path_point.cpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 path_point.cxx
3 
4  path_point.cxx - description
5  -------------------
6  begin : Mon May 10 2004
7  copyright : (C) 2004 Erwin Aertbelien
8  email : erwin.aertbelien@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 /*****************************************************************************
28  * \author
29  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
30  *
31  * \version
32  * ORO_Geometry V0.2
33  *
34  * \par History
35  * - $log$
36  *
37  * \par Release
38  * $Id: path_point.cpp,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $
39  * $Name: $
40  ****************************************************************************/
41 
42 
43 #include "path_point.hpp"
44 
45 namespace KDL {
46 
47 Path_Point::Path_Point(const Frame& startpos)
48  :F_base_start(startpos)
49  {
50  }
51 
52 double Path_Point::LengthToS(double length) {
53  return length;
54 }
56  return 0;
57 }
58 Frame Path_Point::Pos(double s) const {
59  return F_base_start;
60 }
61 
62 Twist Path_Point::Vel(double s,double sd) const {
63  return Twist::Zero();
64 }
65 
66 Twist Path_Point::Acc(double s,double sd,double sdd) const {
67  return Twist::Zero();
68 }
69 
71 }
72 
74  return new Path_Point( F_base_start );
75 }
76 
77 void Path_Point::Write(std::ostream& os) {
78  os << "POINT[ "<< F_base_start << "]" << std::endl;
79 }
80 
81 
82 }
83 
static Twist Zero()
Definition: frames.hpp:291
virtual Twist Vel(double s, double sd) const
Definition: path_point.cpp:62
virtual void Write(std::ostream &os)
Definition: path_point.cpp:77
virtual Frame Pos(double s) const
Definition: path_point.cpp:58
double LengthToS(double length)
Definition: path_point.cpp:52
represents both translational and rotational velocities.
Definition: frames.hpp:720
Path_Point(const Frame &F_base_start)
Definition: path_point.cpp:47
virtual double PathLength()
Definition: path_point.cpp:55
virtual ~Path_Point()
Definition: path_point.cpp:70
virtual Twist Acc(double s, double sd, double sdd) const
Definition: path_point.cpp:66
virtual Path * Clone()
Definition: path_point.cpp:73
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570


orocos_kdl
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autogenerated on Tue Sep 22 2020 03:17:50