trajectory_stationary.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_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
13  * $Name: $
14  ****************************************************************************/
15 
16 #ifndef TRAJECTORY_STATIONARY_H
17 #define TRAJECTORY_STATIONARY_H
18 
19 #include "trajectory.hpp"
20 
21 
22 namespace KDL {
29  {
30  double duration;
32  public:
33  Trajectory_Stationary(double _duration,const Frame& _pos):
34  duration(_duration),pos(_pos) {}
35  virtual double Duration() const {
36  return duration;
37  }
38  virtual Frame Pos(double time) const {
39  return pos;
40  }
41  virtual Twist Vel(double time) const {
42  return Twist::Zero();
43  }
44  virtual Twist Acc(double time) const {
45  return Twist::Zero();
46  }
47  virtual void Write(std::ostream& os) const;
48 
49  virtual Trajectory* Clone() const {
50  return new Trajectory_Stationary(duration,pos);
51  }
53  };
54 
55 
56 }
57 
58 #endif
static Twist Zero()
Definition: frames.hpp:291
virtual double Duration() const
virtual Twist Acc(double time) const
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual Frame Pos(double time) const
virtual Trajectory * Clone() const
Trajectory_Stationary(double _duration, const Frame &_pos)
virtual Twist Vel(double time) const
virtual void Write(std::ostream &os) const
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570


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autogenerated on Fri Jun 14 2019 19:15:38