44 #ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H 45 #define KDL_MOTION_TRAJECTORY_SEGMENT_H 82 virtual Frame Pos(
double time)
const;
85 virtual Twist Vel(
double time)
const;
87 virtual Twist Acc(
double time)
const;
97 virtual void Write(std::ostream& os)
const;
virtual Frame Pos(double time) const
virtual double Duration() const
virtual VelocityProfile * GetProfile()
virtual Trajectory * Clone() const
represents both translational and rotational velocities.
virtual ~Trajectory_Segment()
virtual Twist Vel(double time) const
VelocityProfile * motprof
Trajectory_Segment(Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
virtual VelocityProfile * Clone() const =0
represents a frame transformation in 3D space (rotation + translation)
virtual void Write(std::ostream &os) const
virtual Twist Acc(double time) const