45#ifndef KDL_VELOCITYPROFILE_H
46#define KDL_VELOCITYPROFILE_H
48#include "utilities/utility.h"
49#include "utilities/utility_io.h"
72 double pos1,
double pos2,
double duration) = 0;
81 virtual double Pos(
double time)
const = 0;
85 virtual double Vel(
double time)
const = 0;
89 virtual double Acc(
double time)
const = 0;
93 virtual void Write(std::ostream& os)
const = 0;
A VelocityProfile stores the velocity profile that is used within a trajectory.
Definition: velocityprofile.hpp:63
virtual void SetProfile(double pos1, double pos2)=0
static VelocityProfile * Read(std::istream &is)
Definition: velocityprofile.cpp:53
virtual void SetProfileDuration(double pos1, double pos2, double duration)=0
virtual double Duration() const =0
virtual VelocityProfile * Clone() const =0
virtual ~VelocityProfile()
Definition: velocityprofile.hpp:102
virtual void Write(std::ostream &os) const =0
virtual double Pos(double time) const =0
virtual double Acc(double time) const =0
virtual double Vel(double time) const =0
Definition: articulatedbodyinertia.cpp:26