KDL 1.5.1
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trajectory_composite.hpp
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1/*****************************************************************************
2 * \author
3 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
4 *
5 * \version
6 * LRL V0.2
7 *
8 * \par History
9 * - $log$
10 *
11 * \par Release
12 * $Id: trajectory_composite.h 22 2004-09-21 08:58:54Z eaertbellocal $
13 * $Name: $
14 ****************************************************************************/
15
16
17#ifndef TRAJECTORY_COMPOSITE_H
18#define TRAJECTORY_COMPOSITE_H
19
20#include "trajectory.hpp"
21#include "path_composite.hpp"
22#include <vector>
23
24
25
26namespace KDL {
33 {
34 typedef std::vector<Trajectory*> VectorTraj;
35 typedef std::vector<double> VectorDouble;
36 VectorTraj vt; // contains the element Trajectories
37 VectorDouble vd; // contains end time for each Trajectory
38 double duration; // total duration of the composed
39 // Trajectory
40
41 public:
43 // Constructs an empty composite
44
45 virtual double Duration() const;
46 virtual Frame Pos(double time) const;
47 virtual Twist Vel(double time) const;
48 virtual Twist Acc(double time) const;
49
50 virtual void Add(Trajectory* elem);
51 // Adds trajectory <elem> to the end of the sequence.
52
53 virtual void Destroy();
54 virtual void Write(std::ostream& os) const;
55 virtual Trajectory* Clone() const;
56
57 virtual ~Trajectory_Composite();
58 };
59
60
61}
62
63#endif
Definition: frames.hpp:570
Trajectory_Composite implements a trajectory that is composed of underlying trajectoria.
Definition: trajectory_composite.hpp:33
virtual void Write(std::ostream &os) const
Definition: trajectory_composite.cpp:107
virtual Twist Vel(double time) const
Definition: trajectory_composite.cpp:50
virtual Frame Pos(double time) const
Definition: trajectory_composite.cpp:29
double duration
Definition: trajectory_composite.hpp:38
std::vector< double > VectorDouble
Definition: trajectory_composite.hpp:35
std::vector< Trajectory * > VectorTraj
Definition: trajectory_composite.hpp:34
virtual void Destroy()
Definition: trajectory_composite.cpp:94
VectorTraj vt
Definition: trajectory_composite.hpp:36
VectorDouble vd
Definition: trajectory_composite.hpp:37
virtual double Duration() const
Definition: trajectory_composite.cpp:25
virtual Trajectory * Clone() const
Definition: trajectory_composite.cpp:116
Trajectory_Composite()
Definition: trajectory_composite.cpp:21
virtual void Add(Trajectory *elem)
Definition: trajectory_composite.cpp:88
virtual Twist Acc(double time) const
Definition: trajectory_composite.cpp:69
virtual ~Trajectory_Composite()
Definition: trajectory_composite.cpp:103
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlyin...
Definition: trajectory.hpp:79
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26