KDL 1.5.1
trajectory_stationary.hpp
Go to the documentation of this file.
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_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
13 * $Name: $
14 ****************************************************************************/
15
16#ifndef TRAJECTORY_STATIONARY_H
17#define TRAJECTORY_STATIONARY_H
18
19#include "trajectory.hpp"
20
21
22namespace KDL {
29 {
30 double duration;
32 public:
33 Trajectory_Stationary(double _duration,const Frame& _pos):
34 duration(_duration),pos(_pos) {}
35 virtual double Duration() const {
36 return duration;
37 }
38 virtual Frame Pos(double time) const {
39 return pos;
40 }
41 virtual Twist Vel(double time) const {
42 return Twist::Zero();
43 }
44 virtual Twist Acc(double time) const {
45 return Twist::Zero();
46 }
47 virtual void Write(std::ostream& os) const;
48
49 virtual Trajectory* Clone() const {
51 }
53 };
54
55
56}
57
58#endif
Definition: frames.hpp:570
Implements a "trajectory" of a stationary position for an amount of time.
Definition: trajectory_stationary.hpp:29
Frame pos
Definition: trajectory_stationary.hpp:31
double duration
Definition: trajectory_stationary.hpp:30
virtual ~Trajectory_Stationary()
Definition: trajectory_stationary.hpp:52
virtual Trajectory * Clone() const
Definition: trajectory_stationary.hpp:49
virtual Twist Vel(double time) const
Definition: trajectory_stationary.hpp:41
virtual Twist Acc(double time) const
Definition: trajectory_stationary.hpp:44
virtual void Write(std::ostream &os) const
Definition: trajectory_stationary.cpp:21
Trajectory_Stationary(double _duration, const Frame &_pos)
Definition: trajectory_stationary.hpp:33
virtual Frame Pos(double time) const
Definition: trajectory_stationary.hpp:38
virtual double Duration() const
Definition: trajectory_stationary.hpp:35
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
static Twist Zero()
Definition: frames.inl:290
Definition: articulatedbodyinertia.cpp:26