44 #ifndef KDL_MOTION_PATH_CYCLIC_CLOSED_H
45 #define KDL_MOTION_PATH_CYCLIC_CLOSED_H
70 virtual Twist Vel(
double s,
double sd)
const;
71 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
73 virtual void Write(std::ostream& os);
Definition: frames.hpp:570
A Path representing a closed circular movement, which is traversed a number of times.
Definition: path_cyclic_closed.hpp:61
virtual Twist Vel(double s, double sd) const
Returns the velocity twist at path length s theta and with derivative of s == sd.
Definition: path_cyclic_closed.cpp:64
virtual ~Path_Cyclic_Closed()
Definition: path_cyclic_closed.cpp:73
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_cyclic_closed.cpp:78
Path * geom
Definition: path_cyclic_closed.hpp:63
int times
Definition: path_cyclic_closed.hpp:62
virtual Twist Acc(double s, double sd, double sdd) const
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of...
Definition: path_cyclic_closed.cpp:68
bool aggregate
Definition: path_cyclic_closed.hpp:64
static Path * Read(std::istream &is)
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_cyclic_closed.cpp:60
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_cyclic_closed.cpp:82
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_cyclic_closed.hpp:79
Path_Cyclic_Closed(Path *_geom, int _times, bool _aggregate=true)
Definition: path_cyclic_closed.cpp:48
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_cyclic_closed.cpp:56
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_cyclic_closed.cpp:51
The specification of the path of a trajectory.
Definition: path.hpp:59
IdentifierType
Definition: path.hpp:61
@ ID_CYCLIC_CLOSED
Definition: path.hpp:67
represents both translational and rotational velocities.
Definition: frames.hpp:720
Defines routines for I/O of Frame and related objects.
Definition: articulatedbodyinertia.cpp:26