/usr/include/kdl/trajectory_segment.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 trajectory_segment.h
trajectory_segment.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_segment.h,v 1.1.1.1.2.5 2003/07/23 16:44:26 psoetens Exp $
* $Name: $
****************************************************************************/
#ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
#define KDL_MOTION_TRAJECTORY_SEGMENT_H
#include "frames.hpp"
#include "frames_io.hpp"
#include "trajectory.hpp"
#include "path.hpp"
#include "velocityprofile.hpp"
namespace KDL {
/**
* Trajectory_Segment combines a VelocityProfile and a Path into a
* trajectory
* @ingroup Motion
*/
class Trajectory_Segment : public Trajectory
{
VelocityProfile* motprof;
Path* geom;
bool aggregate;
public:
/**
* This constructor assumes that \a geom and <_motprof> are initialised correctly.
*/
Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, bool _aggregate=true);
/**
* This constructor assumes that \a geom is initialised and <_motprof> needs to be
* set according to \a duration.
*/
Trajectory_Segment(Path* _geom, VelocityProfile* _motprof, double duration, bool _aggregate=true);
virtual double Duration() const;
// The duration of the trajectory
virtual Frame Pos(double time) const;
// Position of the trajectory at <time>.
virtual Twist Vel(double time) const;
// The velocity of the trajectory at <time>.
virtual Twist Acc(double time) const;
// The acceleration of the trajectory at <time>.
virtual Trajectory* Clone() const
{
if ( aggregate )
return new Trajectory_Segment( geom->Clone(), motprof->Clone(), true );
return new Trajectory_Segment( geom, motprof, false );
}
virtual void Write(std::ostream& os) const;
virtual Path* GetPath();
virtual VelocityProfile* GetProfile();
virtual ~Trajectory_Segment();
};
}
#endif
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