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