KDL  1.4.0
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 
26 namespace KDL {
32 class Trajectory_Composite: public Trajectory
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
KDL::Trajectory_Composite::VectorTraj
std::vector< Trajectory * > VectorTraj
Definition: trajectory_composite.hpp:60
KDL::Trajectory_Composite::Acc
virtual Twist Acc(double time) const
Definition: trajectory_composite.cpp:85
path_composite.hpp
KDL::Trajectory_Composite::vd
VectorDouble vd
Definition: trajectory_composite.hpp:63
KDL::Trajectory_Composite::Pos
virtual Frame Pos(double time) const
Definition: trajectory_composite.cpp:45
KDL::Add
void Add(const JntArray &src1, const JntArray &src2, JntArray &dest)
Function to add two joint arrays, all the arguments must have the same size: A + B = C.
Definition: jntarray.cpp:82
trajectory_composite.hpp
KDL::Trajectory_Composite::VectorDouble
std::vector< double > VectorDouble
Definition: trajectory_composite.hpp:61
KDL::Trajectory::Vel
virtual Twist Vel(double time) const =0
KDL
Definition: articulatedbodyinertia.cpp:28
KDL::Trajectory_Composite::Add
virtual void Add(Trajectory *elem)
Definition: trajectory_composite.cpp:104
KDL::Trajectory_Composite::Destroy
virtual void Destroy()
Definition: trajectory_composite.cpp:110
KDL::Twist
represents both translational and rotational velocities.
Definition: frames.hpp:720
KDL::Trajectory_Composite::Write
virtual void Write(std::ostream &os) const
Definition: trajectory_composite.cpp:124
KDL::Trajectory_Composite
Trajectory_Composite implements a trajectory that is composed of underlying trajectoria.
Definition: trajectory_composite.hpp:46
KDL::Trajectory_Composite::Vel
virtual Twist Vel(double time) const
Definition: trajectory_composite.cpp:66
KDL::Frame
Definition: frames.hpp:570
trajectory.hpp
KDL::Trajectory_Composite::vt
VectorTraj vt
Definition: trajectory_composite.hpp:62
KDL::Trajectory::Pos
virtual Frame Pos(double time) const =0
KDL::Trajectory_Composite::duration
double duration
Definition: trajectory_composite.hpp:64
KDL::Trajectory_Composite::Trajectory_Composite
Trajectory_Composite()
Definition: trajectory_composite.cpp:37
KDL::Trajectory_Composite::~Trajectory_Composite
virtual ~Trajectory_Composite()
Definition: trajectory_composite.cpp:119
KDL::Trajectory::Duration
virtual double Duration() const =0
KDL::Trajectory_Composite::Clone
virtual Trajectory * Clone() const
Definition: trajectory_composite.cpp:133
KDL::Trajectory_Composite::Duration
virtual double Duration() const
Definition: trajectory_composite.cpp:41
KDL::Trajectory
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlyin...
Definition: trajectory.hpp:130