/usr/include/kdl/trajectory.hpp is in liborocos-kdl-dev 1.3.0+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 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 | /***************************************************************************
tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 trajectory.h
trajectory.h - description
-------------------
begin : Mon January 10 2005
copyright : (C) 2005 Erwin Aertbelien
email : erwin.aertbelien@mech.kuleuven.ac.be
***************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307 USA *
* *
***************************************************************************/
/*****************************************************************************
* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* ORO_Geometry V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: trajectory.h,v 1.1.1.1.2.5 2003/07/23 16:44:25 psoetens Exp $
* $Name: $
* \todo
* Peter's remark : should seperate I/O from other routines in the
* motion/chain directories
* The problem is that the I/O uses virtual inheritance to write
* the trajectories/geometries/velocityprofiles/...
* Have no good solution for this, perhaps
* * #ifdef's
* * declaring dummy ostream/istream and change implementation file .cpp
* * declaring some sort of VISITOR object (containing an ostream) ,
* the classes contain code to pass this object around along its children
* a subroutine can then be called with overloading.
* PROBLEM : if you declare a friend you have to fully declare it ==> exposing I/O with ostream/istream decl
* CONSEQUENCE : everything has to be declared public.
****************************************************************************/
#ifndef TRAJECTORY_H
#define TRAJECTORY_H
#include "frames.hpp"
#include "frames_io.hpp"
#include "path.hpp"
#include "velocityprofile.hpp"
namespace KDL {
/**
* An abstract class that implements
* a trajectory contains a cartesian space trajectory and an underlying
* velocity profile.
* @ingroup Motion
*/
class Trajectory
{
public:
virtual double Duration() const = 0;
// The duration of the trajectory
virtual Frame Pos(double time) const = 0;
// Position of the trajectory at <time>.
virtual Twist Vel(double time) const = 0;
// The velocity of the trajectory at <time>.
virtual Twist Acc(double time) const = 0;
// The acceleration of the trajectory at <time>.
virtual Trajectory* Clone() const = 0;
virtual void Write(std::ostream& os) const = 0;
static Trajectory* Read(std::istream& is);
virtual ~Trajectory() {}
// note : you cannot declare this destructor abstract
// it is always called by the descendant's destructor !
};
}
#endif
|