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. | |
virtual double | startTime () const =0 |
Get lower bound of definition interval. | |
virtual double | endTime () const =0 |
Get upper bound of defintion interval. | |
virtual const CjrlHumanoidDynamicRobot & | robot ()=0 |
Get robot for which motion is defined. | |
virtual bool | configAtTime (double inTime, vectorN &outConfig) const =0 |
Get Configuration at given time. | |
virtual bool | velocityAtTime (double inTime, vectorN &outVector) const =0 |
Get velocity at given time. | |
virtual bool | accelerationAtTime (double inTime, vectorN &outVector) const =0 |
Get Acceleration at given time. |
Defines the motion of a robot along time.
The motion is defined over an interval of time.
virtual CjrlRobotMotion::~CjrlRobotMotion | ( | ) | [inline, virtual] |
Destructor.
virtual bool CjrlRobotMotion::accelerationAtTime | ( | double | inTime, |
vectorN & | outVector | ||
) | const [pure virtual] |
Get Acceleration at given time.
virtual bool CjrlRobotMotion::configAtTime | ( | double | inTime, |
vectorN & | outConfig | ||
) | const [pure virtual] |
Get Configuration at given time.
virtual double CjrlRobotMotion::endTime | ( | ) | const [pure virtual] |
Get upper bound of defintion interval.
virtual const CjrlHumanoidDynamicRobot& CjrlRobotMotion::robot | ( | ) | [pure virtual] |
Get robot for which motion is defined.
virtual double CjrlRobotMotion::startTime | ( | ) | const [pure virtual] |
Get lower bound of definition interval.
virtual bool CjrlRobotMotion::velocityAtTime | ( | double | inTime, |
vectorN & | outVector | ||
) | const [pure virtual] |
Get velocity at given time.