KDL::Trajectory_Composite Class Reference

Trajectory_Composite implements a trajectory that is composed of underlying trajectoria. More...

#include <src/trajectory_composite.hpp>

Inheritance diagram for KDL::Trajectory_Composite:

Collaboration diagram for KDL::Trajectory_Composite:

Public Member Functions
	Trajectory_Composite ()
virtual double	Duration () const
virtual Frame	Pos (double time) const
virtual Twist	Vel (double time) const
virtual Twist	Acc (double time) const
virtual void	Add (Trajectory *elem)
virtual void	Destroy ()
virtual void	Write (std::ostream &os) const
virtual Trajectory *	Clone () const
virtual	~Trajectory_Composite ()

Static Public Member Functions
static Trajectory *	Read (std::istream &is)

Private Types
typedef std::vector< Trajectory * >	VectorTraj
typedef std::vector< double >	VectorDouble

Private Attributes
VectorTraj	vt
VectorDouble	vd
double	duration

Detailed Description

Trajectory_Composite implements a trajectory that is composed of underlying trajectoria.

Call Add to add a trajectory

Member Typedef Documentation

VectorDouble

typedef std::vector<double> KDL::Trajectory_Composite::VectorDouble

private

VectorTraj

typedef std::vector<Trajectory*> KDL::Trajectory_Composite::VectorTraj

private

Constructor & Destructor Documentation

Trajectory_Composite()

KDL::Trajectory_Composite::Trajectory_Composite

(

)

References duration.

Referenced by Clone().

~Trajectory_Composite()

KDL::Trajectory_Composite::~Trajectory_Composite ( )

virtual

References Destroy().

Member Function Documentation

Acc()

Twist KDL::Trajectory_Composite::Acc ( double time ) const

virtual

Implements KDL::Trajectory.

References KDL::Trajectory::Acc(), KDL::Trajectory::Duration(), vd, and vt.

Add()

void KDL::Trajectory_Composite::Add ( Trajectory * elem )

virtual

References KDL::Trajectory::Duration(), duration, vd, and vt.

Referenced by Clone().

Clone()

Trajectory * KDL::Trajectory_Composite::Clone ( ) const

virtual

Implements KDL::Trajectory.

References Add(), Clone(), Trajectory_Composite(), and vt.

Referenced by Clone().

Destroy()

void KDL::Trajectory_Composite::Destroy ( )

virtual

References vd, and vt.

Referenced by ~Trajectory_Composite().

Duration()

double KDL::Trajectory_Composite::Duration ( ) const

virtual

Implements KDL::Trajectory.

References duration.

Pos()

Frame KDL::Trajectory_Composite::Pos ( double time ) const

virtual

Implements KDL::Trajectory.

References KDL::Trajectory::Duration(), KDL::Trajectory::Pos(), vd, and vt.

Read()

Trajectory * KDL::Trajectory::Read ( std::istream & is )

staticinherited

References KDL::Path::Read(), and KDL::VelocityProfile::Read().

Vel()

Twist KDL::Trajectory_Composite::Vel ( double time ) const

virtual

Implements KDL::Trajectory.

References KDL::Trajectory::Duration(), vd, KDL::Trajectory::Vel(), and vt.

Write()

void KDL::Trajectory_Composite::Write ( std::ostream & os ) const

virtual

Implements KDL::Trajectory.

References vt.

Member Data Documentation

duration

double KDL::Trajectory_Composite::duration

private

Referenced by Add(), Duration(), and Trajectory_Composite().

vd

VectorDouble KDL::Trajectory_Composite::vd

private

Referenced by Acc(), Add(), Destroy(), Pos(), and Vel().

vt

VectorTraj KDL::Trajectory_Composite::vt

private

Referenced by Acc(), Add(), Clone(), Destroy(), Pos(), Vel(), and Write().

---

The documentation for this class was generated from the following files:

• src/trajectory_composite.hpp
• src/trajectory_composite.cpp