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44 #ifndef KDL_PATHCOMPOSITE_H
45 #define KDL_PATHCOMPOSITE_H
69 class Path_Composite :
public Path
71 typedef std::vector< std::pair<Path*,bool> >
PathVector;
82 double Lookup(
double s)
const;
91 void Add(Path* geom,
bool aggregate=
true);
106 virtual Frame
Pos(
double s)
const;
112 virtual Twist Vel(
double s,
double sd)
const;
118 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
125 virtual void Write(std::ostream& os);
double cached_ends
Definition: path_composite.hpp:156
DoubleVector dv
Definition: path_composite.hpp:151
virtual Path * GetSegment(int i)
returns a pointer to the underlying Path of the given segment number i.
Definition: path_composite.cpp:171
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_composite.cpp:150
int cached_index
Definition: path_composite.hpp:157
virtual ~Path_Composite()
Definition: path_composite.cpp:190
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_composite.cpp:130
Path_Composite()
Definition: path_composite.cpp:112
@ ID_COMPOSITE
Definition: path.hpp:178
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_composite.hpp:235
std::vector< std::pair< Path *, bool > > PathVector
Definition: path_composite.hpp:147
Definition: articulatedbodyinertia.cpp:28
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_composite.cpp:158
Definition: frames.hpp:570
IdentifierType
Definition: path.hpp:137
virtual double GetLengthToEndOfSegment(int i)
gets the length to the end of the given segment.
Definition: path_composite.cpp:177
double cached_starts
Definition: path_composite.hpp:155
virtual Twist Acc(double s, double sd, double sdd) const
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of...
Definition: path_composite.cpp:145
double pathlength
Definition: path_composite.hpp:152
virtual Twist Vel(double s, double sd) const
Returns the velocity twist at path length s theta and with derivative of s == sd.
Definition: path_composite.cpp:140
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
Definition: path_composite.cpp:183
std::vector< double > DoubleVector
Definition: path_composite.hpp:148
PathVector gv
Definition: path_composite.hpp:150
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_composite.cpp:125
The specification of the path of a trajectory.
Definition: path.hpp:97
double Lookup(double s) const
Definition: path_composite.cpp:92
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_composite.cpp:135
void Add(Path *geom, bool aggregate=true)
Adds a Path* to this composite.
Definition: path_composite.cpp:119
virtual int GetNrOfSegments()
returns the number of underlying segments.
Definition: path_composite.cpp:167