17 #ifndef TRAJECTORY_COMPOSITE_H
18 #define TRAJECTORY_COMPOSITE_H
46 virtual Frame Pos(
double time)
const;
47 virtual Twist Vel(
double time)
const;
48 virtual Twist Acc(
double time)
const;
54 virtual void Write(std::ostream& os)
const;
Definition: frames.hpp:570
Trajectory_Composite implements a trajectory that is composed of underlying trajectoria.
Definition: trajectory_composite.hpp:33
virtual void Write(std::ostream &os) const
Definition: trajectory_composite.cpp:111
virtual Twist Vel(double time) const
Definition: trajectory_composite.cpp:53
virtual Frame Pos(double time) const
Definition: trajectory_composite.cpp:32
double duration
Definition: trajectory_composite.hpp:38
std::vector< double > VectorDouble
Definition: trajectory_composite.hpp:35
std::vector< Trajectory * > VectorTraj
Definition: trajectory_composite.hpp:34
virtual void Destroy()
Definition: trajectory_composite.cpp:97
VectorTraj vt
Definition: trajectory_composite.hpp:36
VectorDouble vd
Definition: trajectory_composite.hpp:37
virtual double Duration() const
Definition: trajectory_composite.cpp:28
virtual Trajectory * Clone() const
Definition: trajectory_composite.cpp:120
Trajectory_Composite()
Definition: trajectory_composite.cpp:24
virtual void Add(Trajectory *elem)
Definition: trajectory_composite.cpp:91
virtual Twist Acc(double time) const
Definition: trajectory_composite.cpp:72
virtual ~Trajectory_Composite()
Definition: trajectory_composite.cpp:106
An abstract class that implements a trajectory contains a cartesian space trajectory and an underlyin...
Definition: trajectory.hpp:79
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28