KDL::Trajectory_Segment Class Reference

#include <trajectory_segment.hpp>

Inheritance diagram for KDL::Trajectory_Segment:

Public Member Functions
virtual Twist	Acc (double time) const
virtual Trajectory *	Clone () const
virtual double	Duration () const
virtual Path *	GetPath ()
virtual VelocityProfile *	GetProfile ()
virtual Frame	Pos (double time) const
	Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
	Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, double duration, bool _aggregate=true)
virtual Twist	Vel (double time) const
virtual void	Write (std::ostream &os) const
virtual	~Trajectory_Segment ()
Public Member Functions inherited from KDL::Trajectory
virtual	~Trajectory ()

Private Attributes
bool	aggregate
Path *	geom
VelocityProfile *	motprof

Additional Inherited Members
Static Public Member Functions inherited from KDL::Trajectory
static Trajectory *	Read (std::istream &is)

Detailed Description

Trajectory_Segment combines a VelocityProfile and a Path into a trajectory

Definition at line 62 of file trajectory_segment.hpp.

Constructor & Destructor Documentation

KDL::Trajectory_Segment::Trajectory_Segment	(	Path *	_geom,
		VelocityProfile *	_motprof,
		bool	_aggregate = true
	)

This constructor assumes that geom and <_motprof> are initialised correctly.

Definition at line 49 of file trajectory_segment.cpp.

KDL::Trajectory_Segment::Trajectory_Segment	(	Path *	_geom,
		VelocityProfile *	_motprof,
		double	duration,
		bool	_aggregate = true
	)

This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration.

Definition at line 55 of file trajectory_segment.cpp.

KDL::Trajectory_Segment::~Trajectory_Segment ( )

virtual

Definition at line 92 of file trajectory_segment.cpp.

Member Function Documentation

Twist KDL::Trajectory_Segment::Acc ( double  time ) const

virtual

Implements KDL::Trajectory.

Definition at line 78 of file trajectory_segment.cpp.

virtual Trajectory* KDL::Trajectory_Segment::Clone ( ) const

inlinevirtual

Implements KDL::Trajectory.

Definition at line 90 of file trajectory_segment.hpp.

double KDL::Trajectory_Segment::Duration ( ) const

virtual

Implements KDL::Trajectory.

Definition at line 63 of file trajectory_segment.cpp.

Path * KDL::Trajectory_Segment::GetPath ( )

virtual

Definition at line 100 of file trajectory_segment.cpp.

VelocityProfile * KDL::Trajectory_Segment::GetProfile ( )

virtual

Definition at line 104 of file trajectory_segment.cpp.

Frame KDL::Trajectory_Segment::Pos ( double  time ) const

virtual

Implements KDL::Trajectory.

Definition at line 68 of file trajectory_segment.cpp.

Twist KDL::Trajectory_Segment::Vel ( double  time ) const

virtual

Implements KDL::Trajectory.

Definition at line 73 of file trajectory_segment.cpp.

void KDL::Trajectory_Segment::Write ( std::ostream &  os ) const

virtual

Implements KDL::Trajectory.

Definition at line 84 of file trajectory_segment.cpp.

Member Data Documentation

bool KDL::Trajectory_Segment::aggregate

private

Definition at line 66 of file trajectory_segment.hpp.

Path* KDL::Trajectory_Segment::geom

private

Definition at line 65 of file trajectory_segment.hpp.

VelocityProfile* KDL::Trajectory_Segment::motprof

private

Definition at line 64 of file trajectory_segment.hpp.

---

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

• trajectory_segment.hpp
• trajectory_segment.cpp