Defines the motion of a robot along time. More...
#include </local/robotpkg/var/tmp/robotpkg/interfaces/abstract-gik-task/work/abstract-gik-task-2.7/interfaces/jrlRobotMotion.h>
Public Member Functions | |
virtual | ~CjrlRobotMotion () |
Destructor. More... | |
virtual double | startTime () const =0 |
Get lower bound of definition interval. More... | |
virtual double | endTime () const =0 |
Get upper bound of defintion interval. More... | |
virtual const CjrlHumanoidDynamicRobot & | robot ()=0 |
Get robot for which motion is defined. More... | |
virtual bool | configAtTime (double inTime, vectorN &outConfig) const =0 |
Get Configuration at given time. More... | |
virtual bool | velocityAtTime (double inTime, vectorN &outVector) const =0 |
Get velocity at given time. More... | |
virtual bool | accelerationAtTime (double inTime, vectorN &outVector) const =0 |
Get Acceleration at given time. More... | |
Defines the motion of a robot along time.
The motion is defined over an interval of time.
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inlinevirtual |
Destructor.
References accelerationAtTime(), configAtTime(), endTime(), robot(), startTime(), and velocityAtTime().
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pure virtual |
Get Acceleration at given time.
Referenced by ~CjrlRobotMotion().
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pure virtual |
Get Configuration at given time.
Referenced by ~CjrlRobotMotion().
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pure virtual |
Get upper bound of defintion interval.
Referenced by ~CjrlRobotMotion().
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pure virtual |
Get robot for which motion is defined.
Referenced by ~CjrlRobotMotion().
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pure virtual |
Get lower bound of definition interval.
Referenced by ~CjrlRobotMotion().
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pure virtual |
Get velocity at given time.
Referenced by ~CjrlRobotMotion().