提交依赖与构建产物

kdl_install/include/kdl/trajectory_stationary.hpp

@@ -0,0 +1,58 @@
+/*****************************************************************************
+ *  \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):
+		  duration(_duration),pos(_pos) {}
+		virtual double Duration() const {
+			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* Clone() const {
+			return new Trajectory_Stationary(duration,pos);
+		}
+		virtual ~Trajectory_Stationary() {}
+	};
+
+
+}
+
+#endif