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44 #ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H
45 #define KDL_MOTION_ROUNDEDCOMPOSITE_H
58 class Path_RoundedComposite :
public Path
68 RotationalInterpolation*
orient;
109 void Add(
const Frame& F_base_point);
132 virtual Frame
Pos(
double s)
const;
138 virtual Twist
Vel(
double s,
double sd)
const;
144 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
virtual Frame Pos(double s) const
virtual double PathLength()
RotationalInterpolation * orient
virtual double GetLengthToEndOfSegment(int i)
virtual ~Path_RoundedComposite()
Path_RoundedComposite(Path_Composite *comp, double radius, double eqradius, RotationalInterpolation *orient, bool aggregate, int nrofpoints)
void Add(const Frame &F_base_point)
represents both translational and rotational velocities.
virtual double LengthToS(double length)
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
virtual Path * GetSegment(int i)
virtual Twist Acc(double s, double sd, double sdd) const
virtual int GetNrOfSegments()
virtual IdentifierType getIdentifier() const
virtual Twist Vel(double s, double sd) const
virtual void Write(std::ostream &os)