orocos_kdl
src
path_point.cpp
Go to the documentation of this file.
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/***************************************************************************
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tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 path_point.cxx
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path_point.cxx - description
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-------------------
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begin : Mon May 10 2004
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copyright : (C) 2004 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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/*****************************************************************************
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: path_point.cpp,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#include "
path_point.hpp
"
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namespace
KDL
{
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Path_Point::Path_Point
(
const
Frame& startpos)
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:F_base_start(startpos)
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{
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}
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double
Path_Point::LengthToS
(
double
length) {
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return
length;
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}
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double
Path_Point::PathLength
(){
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return
0;
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}
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Frame
Path_Point::Pos
(
double
s)
const
{
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return
F_base_start
;
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}
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Twist
Path_Point::Vel
(
double
s,
double
sd)
const
{
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return
Twist::Zero
();
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}
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Twist
Path_Point::Acc
(
double
s,
double
sd,
double
sdd)
const
{
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return
Twist::Zero
();
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}
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Path_Point::~Path_Point
() {
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}
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Path*
Path_Point::Clone
() {
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return
new
Path_Point
(
F_base_start
);
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}
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void
Path_Point::Write
(
std::ostream
& os) {
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os <<
"POINT[ "
<<
F_base_start
<<
"]"
<<
std::endl
;
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}
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}
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KDL::Path_Point::~Path_Point
virtual ~Path_Point()
Definition:
path_point.cpp:108
KDL::Path_Point::LengthToS
double LengthToS(double length)
Definition:
path_point.cpp:90
KDL::Path_Point::Acc
virtual Twist Acc(double s, double sd, double sdd) const
Definition:
path_point.cpp:104
KDL::Path_Point::Vel
virtual Twist Vel(double s, double sd) const
Definition:
path_point.cpp:100
KDL::Path_Point::Pos
virtual Frame Pos(double s) const
Definition:
path_point.cpp:96
KDL
Definition:
kukaLWR_DHnew.cpp:25
path_point.hpp
KDL::Path_Point::Write
virtual void Write(std::ostream &os)
Definition:
path_point.cpp:115
std::ostream
KDL::Path_Point::Path_Point
Path_Point(const Frame &F_base_start)
Definition:
path_point.cpp:85
KDL::Path_Point::PathLength
virtual double PathLength()
Definition:
path_point.cpp:93
KDL::Twist::Zero
static Twist Zero()
Definition:
frames.inl:290
std::endl
T endl(T... args)
KDL::Path_Point::F_base_start
Frame F_base_start
Definition:
path_point.hpp:143
KDL::Path_Point::Clone
virtual Path * Clone()
Definition:
path_point.cpp:111
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