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44 #ifndef KDL_MOTION_TRAJECTORY_SEGMENT_H
45 #define KDL_MOTION_TRAJECTORY_SEGMENT_H
62 class Trajectory_Segment :
public Trajectory
77 Trajectory_Segment(Path* _geom, VelocityProfile* _motprof,
double duration,
bool _aggregate=
true);
82 virtual Frame
Pos(
double time)
const;
85 virtual Twist
Vel(
double time)
const;
87 virtual Twist
Acc(
double time)
const;
90 virtual Trajectory*
Clone()
const
virtual Trajectory * Clone() const
VelocityProfile * motprof
virtual ~Trajectory_Segment()
Trajectory_Segment(Path *_geom, VelocityProfile *_motprof, bool _aggregate=true)
virtual double Duration() const
virtual Frame Pos(double time) const
virtual VelocityProfile * GetProfile()
virtual VelocityProfile * Clone() const =0
virtual Twist Acc(double time) const
virtual Twist Vel(double time) const
virtual void Write(std::ostream &os) const