path_point.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 path_point.h
3 
4  path_point.h - description
5  -------------------
6  begin : Mon January 10 2005
7  copyright : (C) 2005 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 
29 /*****************************************************************************
30 * ALTERNATIVE FOR trajectory_stationary.h/cpp
31  * \author
32  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
33  *
34  * \version
35 
36  * ORO_Geometry V0.2
37  *
38  * \par History
39  * - $log$
40  *
41  * \par Release
42  * $Id: path_point.h,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $
43  * $Name: $
44  ****************************************************************************/
45 
46 #ifndef KDL_MOTION_PATH_POINT_H
47 #define KDL_MOTION_PATH_POINT_H
48 
49 #include "path.hpp"
51 
52 
53 namespace KDL {
54 
55 
56 
61 class Path_Point : public Path
62  {
64  public:
68  Path_Point(const Frame& F_base_start);
69  double LengthToS(double length);
70  virtual double PathLength();
71  virtual Frame Pos(double s) const;
72  virtual Twist Vel(double s,double sd) const ;
73  virtual Twist Acc(double s,double sd,double sdd) const;
74  virtual void Write(std::ostream& os);
75  virtual Path* Clone();
76 
80  virtual IdentifierType getIdentifier() const {
81  return ID_POINT;
82  }
83  virtual ~Path_Point();
84  };
85 
86 }
87 
88 
89 #endif
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 IdentifierType getIdentifier() const
Definition: path_point.hpp:80
virtual double PathLength()
Definition: path_point.cpp:55
virtual ~Path_Point()
Definition: path_point.cpp:70
IdentifierType
Definition: path.hpp:61
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


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autogenerated on Tue Sep 1 2020 03:18:51