trajectory_stationary.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_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
 *      $Name:  $
 ****************************************************************************/

#ifndef TRAJECTORY_STATIONARY_H
#define TRAJECTORY_STATIONARY_H

#include "trajectory.hpp"


namespace KDL {
    class Trajectory_Stationary : public Trajectory
      {
        double duration;
        Frame pos;
    public:
        Trajectory_Stationary(double _duration,const Frame& _pos):
          duration(_duration),pos(_pos) {}
        virtual double Duration() const {
            return duration;
        }
        virtual Frame Pos(double time) const {
            return pos;
        }
        virtual Twist Vel(double time) const {
            return Twist::Zero();
        }
        virtual Twist Acc(double time) const {
            return Twist::Zero();
        }
        virtual void Write(std::ostream& os) const;

        virtual Trajectory* Clone() const {
            return new Trajectory_Stationary(duration,pos);
        }
        virtual ~Trajectory_Stationary() {}
    };


}

#endif