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