/usr/include/kdl/trajectory_composite.hpp is in liborocos-kdl-dev 1.3.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
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* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* LRL V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: trajectory_composite.h 22 2004-09-21 08:58:54Z eaertbellocal $
* $Name: $
****************************************************************************/
#ifndef TRAJECTORY_COMPOSITE_H
#define TRAJECTORY_COMPOSITE_H
#include "trajectory.hpp"
#include "path_composite.hpp"
#include <vector>
namespace KDL {
/**
* Trajectory_Composite implements a trajectory that is composed
* of underlying trajectoria. Call Add to add a trajectory
* @ingroup Motion
*/
class Trajectory_Composite: public Trajectory
{
typedef std::vector<Trajectory*> VectorTraj;
typedef std::vector<double> VectorDouble;
VectorTraj vt; // contains the element Trajectories
VectorDouble vd; // contains end time for each Trajectory
double duration; // total duration of the composed
// Trajectory
public:
Trajectory_Composite();
// Constructs an empty composite
virtual double Duration() const;
virtual Frame Pos(double time) const;
virtual Twist Vel(double time) const;
virtual Twist Acc(double time) const;
virtual void Add(Trajectory* elem);
// Adds trajectory <elem> to the end of the sequence.
virtual void Destroy();
virtual void Write(std::ostream& os) const;
virtual Trajectory* Clone() const;
virtual ~Trajectory_Composite();
};
}
#endif
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