#include <path.hpp>
Public Types  
enum  IdentifierType { ID_LINE =1, ID_CIRCLE =2, ID_COMPOSITE =3, ID_ROUNDED_COMPOSITE =4, ID_POINT =5, ID_CYCLIC_CLOSED =6 } 
Public Member Functions  
virtual Twist  Acc (double s, double sd, double sdd) const =0 
virtual Path *  Clone ()=0 
virtual IdentifierType  getIdentifier () const =0 
virtual double  LengthToS (double length)=0 
virtual double  PathLength ()=0 
virtual Frame  Pos (double s) const =0 
virtual Twist  Vel (double s, double sd) const =0 
virtual void  Write (std::ostream &os)=0 
virtual  ~Path () 
Static Public Member Functions  
static Path *  Read (std::istream &is) 

pure virtual 
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

pure virtual 
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Cyclic_Closed, and KDL::Path_Point.

pure virtual 
gets an identifier indicating the type of this Path object
Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

pure virtual 
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical length , ie when dealing with rotations that are dominant.
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

pure virtual 
Returns the Frame at the current path length s
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

static 

pure virtual 
Returns the velocity twist at path length s theta and with derivative of s == sd
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

pure virtual 
Writes one of the derived objects to the stream
Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.