trajectory.h File Reference

#include <sstream>
#include <map>
#include "quaternion.h"
#include "utils.h"

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Classes
class	Spl_cubic
	Natural cubic splines class. More...
class	Spl_path
	Cartesian or joint space trajectory. More...
class	Spl_Quaternion
	Cubic quaternions spline. More...
class	Trajectory_Select
	Trajectory class selection. More...
Defines
#define	BAD_DATA   -1
#define	CARTESIAN_SPACE   2
#define	EXTRAPOLLATION   -2
#define	JOINT_SPACE   1
#define	K_ZER0   1
#define	NONE   0
#define	NOT_IN_RANGE   -3
Typedefs
typedef std::map< Real, ColumnVector, less< Real > >	point_map
	Data at control points.
typedef std::map< Real, Quaternion, less< Real > >	quat_map
	Data at control points.
Variables
static const char	header_trajectory_rcsid [] = "$Id: trajectory.h,v 1.10 2006/05/16 19:24:26 gourdeau Exp $"
	RCS/CVS version.

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Define Documentation

#define BAD_DATA   -1

Definition at line 83 of file trajectory.h.

#define CARTESIAN_SPACE   2

Definition at line 110 of file trajectory.h.

#define EXTRAPOLLATION   -2

Definition at line 84 of file trajectory.h.

#define JOINT_SPACE   1

Definition at line 109 of file trajectory.h.

#define K_ZER0   1

Definition at line 82 of file trajectory.h.

#define NONE   0

Definition at line 108 of file trajectory.h.

#define NOT_IN_RANGE   -3

Definition at line 85 of file trajectory.h.

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Typedef Documentation

typedef std::map< Real, ColumnVector, less< Real > > point_map

Data at control points.

Definition at line 113 of file trajectory.h.

typedef std::map< Real, Quaternion, less< Real > > quat_map

Data at control points.

Definition at line 140 of file trajectory.h.

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Variable Documentation

const char header_trajectory_rcsid[] = "$Id: trajectory.h,v 1.10 2006/05/16 19:24:26 gourdeau Exp $" [static]

RCS/CVS version.

Definition at line 60 of file trajectory.h.