KDL::Trajectory_Segment Class Reference

#include <trajectory_segment.hpp>

Inheritance diagram for KDL::Trajectory_Segment:

Public Member Functions
	Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
	Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, double duration, bool _aggregate=true)
virtual double	Duration () const
virtual Frame	Pos (double time) const
virtual Twist	Vel (double time) const
virtual Twist	Acc (double time) const
virtual Trajectory *	Clone () const
virtual void	Write (std::ostream &os) const
virtual Path *	GetPath ()
virtual VelocityProfile *	GetProfile ()
virtual	~Trajectory_Segment ()
Public Member Functions inherited from KDL::Trajectory
virtual	~Trajectory ()

Additional Inherited Members
Static Public Member Functions inherited from KDL::Trajectory
static Trajectory *	Read (std::istream &is)

Detailed Description

Trajectory_Segment combines a VelocityProfile and a Path into a trajectory

Constructor & Destructor Documentation

Trajectory_Segment() [1/2]

KDL::Trajectory_Segment::Trajectory_Segment	(	Path *	_geom,
		VelocityProfile *	_motprof,
		bool	_aggregate = true )

This constructor assumes that geom and <_motprof> are initialised correctly.

Trajectory_Segment() [2/2]

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.

~Trajectory_Segment()

virtual KDL::Trajectory_Segment::~Trajectory_Segment ( )

virtual

Member Function Documentation

Acc()

virtual Twist KDL::Trajectory_Segment::Acc ( double time ) const

virtual

Implements KDL::Trajectory.

Clone()

virtual Trajectory * KDL::Trajectory_Segment::Clone ( ) const

inlinevirtual

Implements KDL::Trajectory.

Duration()

virtual double KDL::Trajectory_Segment::Duration ( ) const

virtual

Implements KDL::Trajectory.

GetPath()

virtual Path * KDL::Trajectory_Segment::GetPath ( )

virtual

GetProfile()

virtual VelocityProfile * KDL::Trajectory_Segment::GetProfile ( )

virtual

Pos()

virtual Frame KDL::Trajectory_Segment::Pos ( double time ) const

virtual

Implements KDL::Trajectory.

Vel()

virtual Twist KDL::Trajectory_Segment::Vel ( double time ) const

virtual

Implements KDL::Trajectory.

Write()

virtual void KDL::Trajectory_Segment::Write ( std::ostream & os ) const

virtual

Implements KDL::Trajectory.

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The documentation for this class was generated from the following file:

• build/orocos_kdl_install/include/kdl/trajectory_segment.hpp