/usr/include/kdl/trajectory_stationary.hpp is in liborocos-kdl-dev 1.3.1+dfsg-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | /*****************************************************************************
* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* LRL V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: trajectory_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
* $Name: $
****************************************************************************/
#ifndef TRAJECTORY_STATIONARY_H
#define TRAJECTORY_STATIONARY_H
#include "trajectory.hpp"
namespace KDL {
/**
* Implements a "trajectory" of a stationary position
* for an amount of time.
* @ingroup Motion
*/
class Trajectory_Stationary : public Trajectory
{
double duration;
Frame pos;
public:
Trajectory_Stationary(double _duration,const Frame& _pos):
duration(_duration),pos(_pos) {}
virtual double Duration() const {
return duration;
}
virtual Frame Pos(double time) const {
return pos;
}
virtual Twist Vel(double time) const {
return Twist::Zero();
}
virtual Twist Acc(double time) const {
return Twist::Zero();
}
virtual void Write(std::ostream& os) const;
virtual Trajectory* Clone() const {
return new Trajectory_Stationary(duration,pos);
}
virtual ~Trajectory_Stationary() {}
};
}
#endif
|