trajectory_composite.hpp

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/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *      LRL V0.2
 *
 *  \par History
 *      - $log$
 *
 *  \par Release
 *      $Id: trajectory_composite.h 22 2004-09-21 08:58:54Z eaertbellocal $
 *      $Name:  $
 ****************************************************************************/


#ifndef TRAJECTORY_COMPOSITE_H
#define TRAJECTORY_COMPOSITE_H

#include "trajectory.hpp"
#include "path_composite.hpp"
#include <vector>



namespace KDL {
class Trajectory_Composite: public Trajectory
    {
        typedef std::vector<Trajectory*> VectorTraj;
        typedef std::vector<double>         VectorDouble;
        VectorTraj vt;      // contains the element Trajectories
        VectorDouble  vd;      // contains end time for each Trajectory
        double duration;    // total duration of the composed
                    // Trajectory

    public:
        Trajectory_Composite();
        // Constructs an empty composite

        virtual double Duration() const;
        virtual Frame Pos(double time) const;
        virtual Twist Vel(double time) const;
        virtual Twist Acc(double time) const;

        virtual void Add(Trajectory* elem);
        // Adds trajectory <elem> to the end of the sequence.

        virtual void Destroy();
        virtual void Write(std::ostream& os) const;
        virtual Trajectory* Clone() const;

        virtual ~Trajectory_Composite();
    };


}

#endif