KDL::Trajectory_Segment Class Reference
[Motion]
Trajectory_Segment combines a VelocityProfile and a Path into a trajectory. More...
#include <trajectory_segment.hpp>
Public Member Functions | |
| virtual Twist | Acc (double time) const |
| virtual Trajectory * | Clone () const |
| virtual double | Duration () const |
| virtual Path * | GetPath () |
| virtual VelocityProfile * | GetProfile () |
| virtual Frame | Pos (double time) const |
| Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, double duration, bool _aggregate=true) | |
| This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration. | |
| Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, bool _aggregate=true) | |
| This constructor assumes that geom and <_motprof> are initialised correctly. | |
| virtual Twist | Vel (double time) const |
| virtual void | Write (std::ostream &os) const |
| virtual | ~Trajectory_Segment () |
Detailed Description
Trajectory_Segment combines a VelocityProfile and a Path into a trajectory.
Definition at line 62 of file trajectory_segment.hpp.
Constructor & Destructor Documentation
| KDL::Trajectory_Segment::Trajectory_Segment | ( | Path * | _geom, | |
| VelocityProfile * | _motprof, | |||
| bool | _aggregate = true | |||
| ) |
This constructor assumes that geom and <_motprof> are initialised correctly.
Definition at line 49 of file trajectory_segment.cpp.
Referenced by Clone().
| KDL::Trajectory_Segment::Trajectory_Segment | ( | Path * | _geom, | |
| VelocityProfile * | _motprof, | |||
| double | duration, | |||
| bool | _aggregate = true | |||
| ) |
This constructor assumes that geom is initialised and <_motprof> needs to be set according to duration.
Definition at line 55 of file trajectory_segment.cpp.
References KDL::Path::PathLength(), and KDL::VelocityProfile::SetProfileDuration().
| KDL::Trajectory_Segment::~Trajectory_Segment | ( | ) | [virtual] |
Definition at line 101 of file trajectory_segment.cpp.
Member Function Documentation
| Twist KDL::Trajectory_Segment::Acc | ( | double | time | ) | const [virtual] |
Implements KDL::Trajectory.
Definition at line 87 of file trajectory_segment.cpp.
References KDL::VelocityProfile::Acc(), KDL::Path::Acc(), KDL::VelocityProfile::Pos(), and KDL::VelocityProfile::Vel().
| virtual Trajectory* KDL::Trajectory_Segment::Clone | ( | ) | const [inline, virtual] |
Implements KDL::Trajectory.
Definition at line 92 of file trajectory_segment.hpp.
References KDL::VelocityProfile::Clone(), KDL::Path::Clone(), and Trajectory_Segment().
| double KDL::Trajectory_Segment::Duration | ( | ) | const [virtual] |
Implements KDL::Trajectory.
Definition at line 72 of file trajectory_segment.cpp.
References KDL::VelocityProfile::Duration().
| Path * KDL::Trajectory_Segment::GetPath | ( | ) | [virtual] |
Implements KDL::Trajectory.
Definition at line 62 of file trajectory_segment.cpp.
| VelocityProfile * KDL::Trajectory_Segment::GetProfile | ( | ) | [virtual] |
Implements KDL::Trajectory.
Definition at line 67 of file trajectory_segment.cpp.
| Frame KDL::Trajectory_Segment::Pos | ( | double | time | ) | const [virtual] |
Implements KDL::Trajectory.
Definition at line 77 of file trajectory_segment.cpp.
References KDL::VelocityProfile::Pos(), and KDL::Path::Pos().
| Twist KDL::Trajectory_Segment::Vel | ( | double | time | ) | const [virtual] |
Implements KDL::Trajectory.
Definition at line 82 of file trajectory_segment.cpp.
References KDL::VelocityProfile::Pos(), KDL::VelocityProfile::Vel(), and KDL::Path::Vel().
| void KDL::Trajectory_Segment::Write | ( | std::ostream & | os | ) | const [virtual] |
Implements KDL::Trajectory.
Definition at line 93 of file trajectory_segment.cpp.
References KDL::VelocityProfile::Write(), and KDL::Path::Write().
The documentation for this class was generated from the following files:
