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/*****************************************************************************
* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* LRL V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: trajectory_stationary.h 22 2004-09-21 08:58:54Z eaertbellocal $
* $Name: $
****************************************************************************/
#ifndef TRAJECTORY_STATIONARY_H
#define TRAJECTORY_STATIONARY_H
#include "trajectory.hpp"
namespace KDL {
/**
* Implements a "trajectory" of a stationary position
* for an amount of time.
* @ingroup Motion
*/
class Trajectory_Stationary : public Trajectory
{
double duration;
Frame pos;
public:
Trajectory_Stationary(double _duration,const Frame& _pos):
pos(_pos),duration(_duration) {}
virtual double Duration() {
return duration;
}
virtual Frame Pos(double time) const {
return pos;
}
virtual Twist Vel(double time) const {
return Twist::Zero();
}
virtual Twist Acc(double time) const {
return Twist::Zero();
}
virtual void Write(std::ostream& os) const;
virtual ~Trajectory_Stationary() {}
};
}
#endif
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