45 #ifndef KDL_VELOCITYPROFILE_H 46 #define KDL_VELOCITYPROFILE_H 68 virtual void SetProfile(
double pos1,
double pos2) = 0;
72 double pos1,
double pos2,
double duration) = 0;
81 virtual double Pos(
double time)
const = 0;
85 virtual double Vel(
double time)
const = 0;
89 virtual double Acc(
double time)
const = 0;
93 virtual void Write(std::ostream& os)
const = 0;
virtual ~VelocityProfile()
virtual void Write(std::ostream &os) const =0
virtual double Pos(double time) const =0
static VelocityProfile * Read(std::istream &is)
virtual void SetProfileDuration(double pos1, double pos2, double duration)=0
virtual double Acc(double time) const =0
virtual VelocityProfile * Clone() const =0
virtual double Duration() const =0
virtual double Vel(double time) const =0
virtual void SetProfile(double pos1, double pos2)=0