42 for (i=0;i<
vt.size();i++) {
44 return vt[i]->Pos(time-previoustime);
48 traj =
vt[
vt.size()-1];
62 for (i=0;i<
vt.size();i++) {
64 return vt[i]->Vel(time-previoustime);
68 traj =
vt[
vt.size()-1];
81 for (i=0;i<
vt.size();i++) {
83 return vt[i]->Acc(time-previoustime);
87 traj =
vt[
vt.size()-1];
92 vt.insert(
vt.end(),elem);
98 VectorTraj::iterator it;
99 for (it=
vt.begin();it!=
vt.end();it++) {
102 vt.erase(
vt.begin(),
vt.end());
103 vd.erase(
vd.begin(),
vd.end());
112 os <<
"COMPOSITE[ " <<
vt.size() << endl;
114 for (i=0;i<
vt.size();i++) {
122 for (
unsigned int i = 0; i <
vt.size(); ++i) {
virtual double Duration() const
virtual void Add(Trajectory *elem)
virtual Twist Acc(double time) const =0
virtual Frame Pos(double time) const
represents both translational and rotational velocities.
virtual Twist Vel(double time) const =0
virtual Twist Acc(double time) const
virtual Trajectory * Clone() const
virtual Frame Pos(double time) const =0
virtual ~Trajectory_Composite()
virtual double Duration() const =0
represents a frame transformation in 3D space (rotation + translation)
virtual void Write(std::ostream &os) const
virtual Twist Vel(double time) const