提交依赖与构建产物

kdl_install/include/kdl/trajectory_composite.hpp

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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_composite.h 22 2004-09-21 08:58:54Z eaertbellocal $
+ *		$Name:  $
+ ****************************************************************************/
+
+
+#ifndef TRAJECTORY_COMPOSITE_H
+#define TRAJECTORY_COMPOSITE_H
+
+#include "trajectory.hpp"
+#include "path_composite.hpp"
+#include <vector>
+
+
+
+namespace KDL {
+  /**
+   * Trajectory_Composite implements a trajectory that is composed
+   * of underlying trajectoria.  Call Add to add a trajectory
+   * @ingroup Motion
+   */
+class Trajectory_Composite: public Trajectory
+	{
+		typedef std::vector<Trajectory*> VectorTraj;
+		typedef std::vector<double>         VectorDouble;
+		VectorTraj vt;      // contains the element Trajectories
+		VectorDouble  vd;      // contains end time for each Trajectory
+		double duration;    // total duration of the composed
+				    // Trajectory
+
+	public:
+		Trajectory_Composite();
+		// Constructs an empty 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);
+		// Adds trajectory <elem> to the end of the sequence.
+
+		virtual void Destroy();
+		virtual void Write(std::ostream& os) const;
+		virtual Trajectory* Clone() const;
+
+		virtual ~Trajectory_Composite();
+	};
+
+
+}
+
+#endif