trajectory_composite.hpp
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1 /*****************************************************************************
2  * \author
3  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
4  *
5  * \version
6  * LRL V0.2
7  *
8  * \par History
9  * - $log$
10  *
11  * \par Release
12  * $Id: trajectory_composite.h 22 2004-09-21 08:58:54Z eaertbellocal $
13  * $Name: $
14  ****************************************************************************/
15 
16 
17 #ifndef TRAJECTORY_COMPOSITE_H
18 #define TRAJECTORY_COMPOSITE_H
19 
20 #include "trajectory.hpp"
21 #include "path_composite.hpp"
22 #include <vector>
23 
24 
25 
26 namespace KDL {
33  {
34  typedef std::vector<Trajectory*> VectorTraj;
35  typedef std::vector<double> VectorDouble;
36  VectorTraj vt; // contains the element Trajectories
37  VectorDouble vd; // contains end time for each Trajectory
38  double duration; // total duration of the composed
39  // Trajectory
40 
41  public:
43  // Constructs an empty composite
44 
45  virtual double Duration() const;
46  virtual Frame Pos(double time) const;
47  virtual Twist Vel(double time) const;
48  virtual Twist Acc(double time) const;
49 
50  virtual void Add(Trajectory* elem);
51  // Adds trajectory <elem> to the end of the sequence.
52 
53  virtual void Destroy();
54  virtual void Write(std::ostream& os) const;
55  virtual Trajectory* Clone() const;
56 
57  virtual ~Trajectory_Composite();
58  };
59 
60 
61 }
62 
63 #endif
virtual double Duration() const
std::vector< Trajectory * > VectorTraj
virtual void Add(Trajectory *elem)
virtual Frame Pos(double time) const
std::vector< double > VectorDouble
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual Twist Acc(double time) const
virtual Trajectory * Clone() const
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual void Write(std::ostream &os) const
virtual Twist Vel(double time) const


orocos_kdl
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autogenerated on Fri Jun 14 2019 19:15:38