KDL::Trajectory_Segment Class Reference

Trajectory_Segment combines a VelocityProfile and a Path into a trajectory. More...

#include <src/trajectory_segment.hpp>

Inheritance diagram for KDL::Trajectory_Segment:

Collaboration diagram for KDL::Trajectory_Segment:

Public Member Functions
	Trajectory_Segment (Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
	This constructor assumes that geom and <_motprof> are initialised correctly.
	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.
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 ()

Static Public Member Functions
static Trajectory *	Read (std::istream &is)

Private Attributes
VelocityProfile *	motprof
Path *	geom
bool	aggregate

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.

References aggregate, geom, and motprof.

Referenced by Clone().

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.

References aggregate, geom, and motprof.

~Trajectory_Segment()

KDL::Trajectory_Segment::~Trajectory_Segment ( )

virtual

References aggregate, geom, and motprof.

Member Function Documentation

Acc()

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

virtual

Implements KDL::Trajectory.

References geom, and motprof.

Clone()

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

inlinevirtual

Implements KDL::Trajectory.

References aggregate, geom, motprof, and Trajectory_Segment().

Duration()

double KDL::Trajectory_Segment::Duration ( ) const

virtual

Implements KDL::Trajectory.

References motprof.

GetPath()

Path * KDL::Trajectory_Segment::GetPath ( )

virtual

References geom.

GetProfile()

VelocityProfile * KDL::Trajectory_Segment::GetProfile ( )

virtual

References motprof.

Pos()

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

virtual

Implements KDL::Trajectory.

References geom, and motprof.

Read()

Trajectory * KDL::Trajectory::Read ( std::istream & is )

staticinherited

References KDL::Path::Read(), and KDL::VelocityProfile::Read().

Vel()

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

virtual

Implements KDL::Trajectory.

References geom, and motprof.

Write()

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

virtual

Implements KDL::Trajectory.

References geom, and motprof.

Member Data Documentation

aggregate

bool KDL::Trajectory_Segment::aggregate

private

Referenced by Clone(), Trajectory_Segment(), Trajectory_Segment(), and ~Trajectory_Segment().

geom

Path* KDL::Trajectory_Segment::geom

private

Referenced by Acc(), Clone(), GetPath(), Pos(), Trajectory_Segment(), Trajectory_Segment(), Vel(), Write(), and ~Trajectory_Segment().

motprof

VelocityProfile* KDL::Trajectory_Segment::motprof

private

Referenced by Acc(), Clone(), Duration(), GetProfile(), Pos(), Trajectory_Segment(), Trajectory_Segment(), Vel(), Write(), and ~Trajectory_Segment().

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

• src/trajectory_segment.hpp
• src/trajectory_segment.cpp