CjrlRobotMotion Class Reference

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>

List of all members.

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.

Detailed Description

Defines the motion of a robot along time.

The motion is defined over an interval of time.


Constructor & Destructor Documentation

virtual CjrlRobotMotion::~CjrlRobotMotion ( ) [inline, virtual]

Destructor.


Member Function Documentation

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.