trajectory_segment.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 trajectory_segment.h
3 
4  trajectory_segment.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  * \author
31  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32  *
33  * \version
34  * ORO_Geometry V0.2
35  *
36  * \par History
37  * - $log$
38  *
39  * \par Release
40  * $Id: trajectory_segment.h,v 1.1.1.1.2.5 2003/07/23 16:44:26 psoetens Exp $
41  * $Name: $
42  ****************************************************************************/
43 
44 #ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
45 #define KDL_MOTION_TRAJECTORY_SEGMENT_H
46 
47 #include "frames.hpp"
48 #include "frames_io.hpp"
49 #include "trajectory.hpp"
50 #include "path.hpp"
51 #include "velocityprofile.hpp"
52 
53 
54 namespace KDL {
55 
56 
63  {
66  bool aggregate;
67  public:
71  Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, bool _aggregate=true);
72 
77  Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, double duration, bool _aggregate=true);
78 
79  virtual double Duration() const;
80  // The duration of the trajectory
81 
82  virtual Frame Pos(double time) const;
83  // Position of the trajectory at <time>.
84 
85  virtual Twist Vel(double time) const;
86  // The velocity of the trajectory at <time>.
87  virtual Twist Acc(double time) const;
88  // The acceleration of the trajectory at <time>.
89 
90  virtual Trajectory* Clone() const
91  {
92  if ( aggregate )
93  return new Trajectory_Segment( geom->Clone(), motprof->Clone(), true );
94  return new Trajectory_Segment( geom, motprof, false );
95  }
96 
97  virtual void Write(std::ostream& os) const;
98 
99  virtual Path* GetPath();
100 
101  virtual VelocityProfile* GetProfile();
102 
103 
104  virtual ~Trajectory_Segment();
105  };
106 
107 
108 
109 }
110 
111 
112 #endif
virtual Path * Clone()=0
virtual Trajectory * Clone() const
virtual VelocityProfile * GetProfile()
virtual void Write(std::ostream &os) const
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual double Duration() const
virtual Twist Vel(double time) const
Trajectory_Segment(Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
virtual VelocityProfile * Clone() const =0
virtual Frame Pos(double time) const
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
virtual Twist Acc(double time) const


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51