50 motprof(_motprof),geom(_geom), aggregate(_aggregate)
86 os <<
"SEGMENT[ " << std::endl;
87 os <<
" ";
geom->
Write(os);os << std::endl;
virtual Frame Pos(double time) const
virtual void Write(std::ostream &os) const =0
virtual double Duration() const
virtual double Pos(double time) const =0
virtual VelocityProfile * GetProfile()
virtual Twist Acc(double s, double sd, double sdd) const =0
virtual Frame Pos(double s) const =0
virtual void SetProfileDuration(double pos1, double pos2, double duration)=0
represents both translational and rotational velocities.
virtual ~Trajectory_Segment()
virtual Twist Vel(double s, double sd) const =0
virtual Twist Vel(double time) const
VelocityProfile * motprof
Trajectory_Segment(Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
virtual void Write(std::ostream &os)=0
virtual double Acc(double time) const =0
virtual double Duration() const =0
virtual double Vel(double time) const =0
represents a frame transformation in 3D space (rotation + translation)
virtual double PathLength()=0
virtual void Write(std::ostream &os) const
virtual Twist Acc(double time) const