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44 #ifndef KDL_MOTION_PATH_H
45 #define KDL_MOTION_PATH_H
81 virtual double LengthToS(
double length) = 0;
94 virtual Frame
Pos(
double s)
const = 0;
100 virtual Twist
Vel(
double s,
double sd)
const = 0;
106 virtual Twist
Acc(
double s,
double sd,
double sdd)
const = 0;
111 virtual void Write(std::ostream& os) = 0;
117 static Path*
Read(std::istream& is);
123 virtual Path*
Clone() = 0;
static Path * Read(std::istream &is)
Reads one of the derived objects from the stream and returns a pointer (factory method)
Definition: path.cpp:99
virtual Twist Acc(double s, double sd, double sdd) const =0
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of...
virtual Frame Pos(double s) const =0
Returns the Frame at the current path length s.
@ ID_COMPOSITE
Definition: path.hpp:178
@ ID_ROUNDED_COMPOSITE
Definition: path.hpp:179
@ ID_CYCLIC_CLOSED
Definition: path.hpp:181
virtual double LengthToS(double length)=0
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: articulatedbodyinertia.cpp:28
@ ID_LINE
Definition: path.hpp:176
A circular Path with 'open ends'.
Definition: path_circle.hpp:99
Definition: frames.hpp:570
IdentifierType
Definition: path.hpp:137
The specification of a path, composed of way-points with rounded corners.
Definition: path_roundedcomposite.hpp:96
virtual IdentifierType getIdentifier() const =0
gets an identifier indicating the type of this Path object
virtual ~Path()
Definition: path.hpp:206
virtual Twist Vel(double s, double sd) const =0
Returns the velocity twist at path length s theta and with derivative of s == sd.
static RotationalInterpolation * Read(std::istream &is)
Reads one of the derived objects from the stream and returns a pointer (factory method)
Definition: rotational_interpolation.cpp:91
virtual void Write(std::ostream &os)=0
Writes one of the derived objects to the stream.
virtual Path * Clone()=0
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
@ ID_POINT
Definition: path.hpp:180
@ ID_CIRCLE
Definition: path.hpp:177
virtual double PathLength()=0
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...