trajectory_stationary.hpp

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/*****************************************************************************
 *  \author
 *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
 *
 *  \version
 *              LRL V0.2
 *
 *      \par History
 *              - $log$
 *
 *      \par Release
 *              $Id: trajectory_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
 *              $Name:  $
 ****************************************************************************/
 
#ifndef TRAJECTORY_STATIONARY_H
#define TRAJECTORY_STATIONARY_H
 
#include "trajectory.hpp"
 
 
namespace KDL {
        class Trajectory_Stationary : public Trajectory
          {
                double duration;
                Frame pos;
        public:
                Trajectory_Stationary(double _duration,const Frame& _pos):
                  duration(_duration),pos(_pos) {}
                virtual double Duration() const {
                        return duration;
                }
                virtual Frame Pos(double time) const {
                        return pos;
                }
                virtual Twist Vel(double time) const {
                        return Twist::Zero();
                }
                virtual Twist Acc(double time) const {
                        return Twist::Zero();
                }
                virtual void Write(std::ostream& os) const;
 
                virtual Trajectory* Clone() const {
                        return new Trajectory_Stationary(duration,pos);
                }
                virtual ~Trajectory_Stationary() {}
        };
 
 
}
 
#endif