orocos_kdl
src
path_point.cpp
Go to the documentation of this file.
1
/***************************************************************************
2
tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 path_point.cxx
3
4
path_point.cxx - description
5
-------------------
6
begin : Mon May 10 2004
7
copyright : (C) 2004 Erwin Aertbelien
8
email : erwin.aertbelien@mech.kuleuven.ac.be
9
10
***************************************************************************
11
* This library is free software; you can redistribute it and/or *
12
* modify it under the terms of the GNU Lesser General Public *
13
* License as published by the Free Software Foundation; either *
14
* version 2.1 of the License, or (at your option) any later version. *
15
* *
16
* This library is distributed in the hope that it will be useful, *
17
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
18
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19
* Lesser General Public License for more details. *
20
* *
21
* You should have received a copy of the GNU Lesser General Public *
22
* License along with this library; if not, write to the Free Software *
23
* Foundation, Inc., 59 Temple Place, *
24
* Suite 330, Boston, MA 02111-1307 USA *
25
* *
26
***************************************************************************/
27
/*****************************************************************************
28
* \author
29
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
30
*
31
* \version
32
* ORO_Geometry V0.2
33
*
34
* \par History
35
* - $log$
36
*
37
* \par Release
38
* $Id: path_point.cpp,v 1.1.2.3 2003/07/24 13:40:49 psoetens Exp $
39
* $Name: $
40
****************************************************************************/
41
42
43
#include "
path_point.hpp
"
44
45
namespace
KDL
{
46
47
Path_Point::Path_Point
(
const
Frame& startpos)
48
:F_base_start(startpos)
49
{
50
}
51
52
double
Path_Point::LengthToS
(
double
length) {
53
return
length;
54
}
55
double
Path_Point::PathLength
(){
56
return
0;
57
}
58
Frame
Path_Point::Pos
(
double
s)
const
{
59
return
F_base_start
;
60
}
61
62
Twist
Path_Point::Vel
(
double
s,
double
sd)
const
{
63
return
Twist::Zero
();
64
}
65
66
Twist
Path_Point::Acc
(
double
s,
double
sd,
double
sdd)
const
{
67
return
Twist::Zero
();
68
}
69
70
Path_Point::~Path_Point
() {
71
}
72
73
Path*
Path_Point::Clone
() {
74
return
new
Path_Point
(
F_base_start
);
75
}
76
77
void
Path_Point::Write
(
std::ostream
& os) {
78
os <<
"POINT[ "
<<
F_base_start
<<
"]"
<<
std::endl
;
79
}
80
81
82
}
83
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
Generated on Thu Nov 14 2024 04:37:48 for orocos_kdl by
1.8.17