Go to the documentation of this file.
17 #ifndef TRAJECTORY_COMPOSITE_H
18 #define TRAJECTORY_COMPOSITE_H
32 class Trajectory_Composite:
public Trajectory
46 virtual Frame Pos(
double time)
const;
47 virtual Twist Vel(
double time)
const;
48 virtual Twist Acc(
double time)
const;
54 virtual void Write(std::ostream& os)
const;
std::vector< Trajectory * > VectorTraj
Definition: trajectory_composite.hpp:60
virtual Twist Acc(double time) const
Definition: trajectory_composite.cpp:85
VectorDouble vd
Definition: trajectory_composite.hpp:63
virtual Frame Pos(double time) const
Definition: trajectory_composite.cpp:45
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
std::vector< double > VectorDouble
Definition: trajectory_composite.hpp:61
virtual Twist Vel(double time) const =0
Definition: articulatedbodyinertia.cpp:28
virtual void Add(Trajectory *elem)
Definition: trajectory_composite.cpp:104
virtual void Destroy()
Definition: trajectory_composite.cpp:110
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual void Write(std::ostream &os) const
Definition: trajectory_composite.cpp:124
Trajectory_Composite implements a trajectory that is composed of underlying trajectoria.
Definition: trajectory_composite.hpp:45
virtual Twist Vel(double time) const
Definition: trajectory_composite.cpp:66
Definition: frames.hpp:570
VectorTraj vt
Definition: trajectory_composite.hpp:62
virtual Frame Pos(double time) const =0
double duration
Definition: trajectory_composite.hpp:64
Trajectory_Composite()
Definition: trajectory_composite.cpp:37
virtual ~Trajectory_Composite()
Definition: trajectory_composite.cpp:119
virtual double Duration() const =0
virtual Trajectory * Clone() const
Definition: trajectory_composite.cpp:133
virtual double Duration() const
Definition: trajectory_composite.cpp:41
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlyin...
Definition: trajectory.hpp:129