KDL::Trajectory Class Reference
[Motion]
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile. More...
#include <trajectory.hpp>
Public Member Functions | |
| virtual Twist | Acc (double time) const =0 |
| virtual Trajectory * | Clone () const =0 |
| virtual double | Duration () const =0 |
| virtual Path * | GetPath ()=0 |
| virtual VelocityProfile * | GetProfile ()=0 |
| virtual Frame | Pos (double time) const =0 |
| virtual Twist | Vel (double time) const =0 |
| virtual void | Write (std::ostream &os) const =0 |
| virtual | ~Trajectory () |
Static Public Member Functions | |
| static Trajectory * | Read (std::istream &is) |
Detailed Description
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile.
Definition at line 78 of file trajectory.hpp.
Constructor & Destructor Documentation
| virtual KDL::Trajectory::~Trajectory | ( | ) | [inline, virtual] |
Definition at line 101 of file trajectory.hpp.
Member Function Documentation
| virtual Twist KDL::Trajectory::Acc | ( | double | time | ) | const [pure virtual] |
Implemented in KDL::Trajectory_Composite, KDL::Trajectory_Segment, and KDL::Trajectory_Stationary.
Referenced by KDL::Trajectory_Composite::Acc().
| virtual Trajectory* KDL::Trajectory::Clone | ( | ) | const [pure virtual] |
Implemented in KDL::Trajectory_Composite, and KDL::Trajectory_Segment.
| virtual double KDL::Trajectory::Duration | ( | ) | const [pure virtual] |
Implemented in KDL::Trajectory_Composite, and KDL::Trajectory_Segment.
Referenced by KDL::Trajectory_Composite::Acc(), KDL::Trajectory_Composite::Add(), KDL::Trajectory_Composite::Pos(), and KDL::Trajectory_Composite::Vel().
| virtual Path* KDL::Trajectory::GetPath | ( | ) | [pure virtual] |
Implemented in KDL::Trajectory_Composite, and KDL::Trajectory_Segment.
Referenced by KDL::Trajectory_Composite::Add().
| virtual VelocityProfile* KDL::Trajectory::GetProfile | ( | ) | [pure virtual] |
Implemented in KDL::Trajectory_Composite, and KDL::Trajectory_Segment.
| virtual Frame KDL::Trajectory::Pos | ( | double | time | ) | const [pure virtual] |
Implemented in KDL::Trajectory_Composite, KDL::Trajectory_Segment, and KDL::Trajectory_Stationary.
Referenced by KDL::Trajectory_Composite::Pos().
| Trajectory * KDL::Trajectory::Read | ( | std::istream & | is | ) | [static] |
Definition at line 57 of file kdl_cp/trajectory.cpp.
References KDL::Eat(), KDL::EatEnd(), KDL::EatWord(), KDL::IOTrace(), KDL::IOTracePop(), KDL::VelocityProfile::Read(), and KDL::Path::Read().
| virtual Twist KDL::Trajectory::Vel | ( | double | time | ) | const [pure virtual] |
Implemented in KDL::Trajectory_Composite, KDL::Trajectory_Segment, and KDL::Trajectory_Stationary.
Referenced by KDL::Trajectory_Composite::Vel().
| virtual void KDL::Trajectory::Write | ( | std::ostream & | os | ) | const [pure virtual] |
Implemented in KDL::Trajectory_Composite, KDL::Trajectory_Segment, and KDL::Trajectory_Stationary.
The documentation for this class was generated from the following files:
