45#ifndef KDL_MOTION_PATHCIRCLE_H
46#define KDL_MOTION_PATHCIRCLE_H
93 bool _aggregate=
true);
99 virtual Twist Vel(
double s,
double sd)
const;
100 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
102 virtual void Write(std::ostream& os);
Definition: frames.hpp:570
A circular Path with 'open ends'.
Definition: path_circle.hpp:61
bool aggregate
Definition: path_circle.hpp:78
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_circle.cpp:158
RotationalInterpolation * orient
Definition: path_circle.hpp:64
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_circle.cpp:105
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_circle.cpp:125
double eqradius
Definition: path_circle.hpp:71
double radius
Definition: path_circle.hpp:67
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_circle.cpp:117
virtual ~Path_Circle()
Definition: path_circle.cpp:153
Frame F_base_center
Definition: path_circle.hpp:68
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_circle.cpp:100
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_circle.hpp:107
double pathlength
Definition: path_circle.hpp:74
double scalerot
Definition: path_circle.hpp:76
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_circle.cpp:109
double scalelin
Definition: path_circle.hpp:75
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_circle.cpp:140
The specification of the path of a trajectory.
Definition: path.hpp:59
IdentifierType
Definition: path.hpp:61
@ ID_CIRCLE
Definition: path.hpp:63
represents rotations in 3 dimensional space.
Definition: frames.hpp:302
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:63
represents both translational and rotational velocities.
Definition: frames.hpp:720
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
Definition: articulatedbodyinertia.cpp:26