50 motprof(_motprof),geom(_geom), aggregate(_aggregate)
55 Trajectory_Segment::Trajectory_Segment(Path* _geom, VelocityProfile* _motprof,
double _duration,
bool _aggregate):
56 motprof(_motprof),geom(_geom), aggregate(_aggregate)
59 motprof->SetProfileDuration(0, geom->PathLength(), _duration);
63 double Trajectory_Segment::Duration()
const
65 return motprof->Duration();
68 Frame Trajectory_Segment::Pos(
double time)
const
70 return geom->Pos(motprof->Pos(time));
73 Twist Trajectory_Segment::Vel(
double time)
const
75 return geom->Vel(motprof->Pos(time),motprof->Vel(time));
78 Twist Trajectory_Segment::Acc(
double time)
const
80 return geom->Acc(motprof->Pos(time),motprof->Vel(time),motprof->Acc(time));
88 os <<
" ";motprof->Write(os);os <<
std::endl;
92 Trajectory_Segment::~Trajectory_Segment()
100 Path* Trajectory_Segment::GetPath() {