Go to the documentation of this file.
63 for (
unsigned int i=0;i<
dv.
size();++i) {
64 if ((s <=
dv[i])||(i == (
dv.
size()-1) )) {
68 return s - previous_s;
89 throw Error_MotionPlanning_Not_Applicable();
115 for (
unsigned int i = 0; i <
dv.
size(); ++i) {
116 comp->Add(
gv[i].first->Clone(),
gv[i].second);
124 for (
unsigned int i=0;i<
dv.
size();i++) {
125 gv[i].first->Write(os);
142 assert(i<
static_cast<int>(
dv.
size()));
154 PathVector::iterator it;
virtual Path * GetSegment(int i)
virtual ~Path_Composite()
virtual double PathLength()
virtual void Write(std::ostream &os)
represents a frame transformation in 3D space (rotation + translation)
virtual double GetLengthToEndOfSegment(int i)
virtual Twist Acc(double s, double sd, double sdd) const
virtual Twist Vel(double s, double sd) const
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
virtual double LengthToS(double length)
double Lookup(double s) const
virtual Frame Pos(double s) const
void Add(Path *geom, bool aggregate=true)
virtual int GetNrOfSegments()