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44 #ifndef KDL_PATHCOMPOSITE_H
45 #define KDL_PATHCOMPOSITE_H
69 class Path_Composite :
public Path
82 double Lookup(
double s)
const;
91 void Add(Path* geom,
bool aggregate=
true);
106 virtual Frame
Pos(
double s)
const;
112 virtual Twist Vel(
double s,
double sd)
const;
118 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
virtual Path * GetSegment(int i)
virtual ~Path_Composite()
virtual double PathLength()
virtual IdentifierType getIdentifier() const
std::vector< std::pair< Path *, bool > > PathVector
represents both translational and rotational velocities.
virtual void Write(std::ostream &os)
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)
std::vector< double > DoubleVector
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()