Trajectory< P > Class Template Reference

Abstract template Trajectory class. Interface only. More...

#include <Trajectory.h>

Inheritance diagram for Trajectory< P >:

List of all members.

Public Types
typedef P	poseType
Public Member Functions
double	getDuration () const
virtual void	getPose (double time, poseType &pose)=0
	getPose get pose at a particular time
virtual void	setDuration (double duration_in)
	Trajectory ()
virtual	~Trajectory ()
Private Attributes
double	duration

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Detailed Description

template<class P>
class Trajectory< P >

Abstract template Trajectory class. Interface only.

Definition at line 23 of file Trajectory.h.

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Member Typedef Documentation

template<class P>

typedef P Trajectory< P >::poseType

Definition at line 26 of file Trajectory.h.

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Constructor & Destructor Documentation

template<class P>

Trajectory< P >::Trajectory

(

)

[inline]

Definition at line 28 of file Trajectory.h.

template<class P>

virtual Trajectory< P >::~Trajectory

(

)

[inline, virtual]

Definition at line 29 of file Trajectory.h.

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Member Function Documentation

template<class P>

double Trajectory< P >::getDuration

(

)

const [inline]

Definition at line 31 of file Trajectory.h.

template<class P>

virtual void Trajectory< P >::getPose	(	double	time,
		poseType &	pose
	)		[pure virtual]

getPose get pose at a particular time

Parameters:

time	time along trajectory (0 - getDuration())
stepPose	pose corresponding to the time

each step in a joint trajectory contains the position, velocity, and acceleration

Implemented in TrajectorySequence< P, SynchedTrajectory >, RosMsgSynchedCartesianTrajectory, SynchedTrajectory< P >, and RosMsgJointTrajectory.

template<class P >

void Trajectory< P >::setDuration

(

double

duration_in

)

[virtual]

Reimplemented in TrapezoidalVelocityCartesianTrajectory, and TrapezoidalVelocityJointTrajectory.

Definition at line 139 of file Trajectory.h.

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Member Data Documentation

template<class P>

double Trajectory< P >::duration [private]

Definition at line 44 of file Trajectory.h.

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The documentation for this class was generated from the following file:

• Trajectory.h