Klamp't
0.9.0
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A piecewise linear path. More...
#include <Paths.h>
Public Member Functions | |
LinearPath (const vector< Real > ×, const vector< Vector > &milestones) | |
bool | Save (ostream &out) |
bool | Load (istream &in) |
Real | StartTime () const |
Real | EndTime () const |
Real | Duration () const |
void | Append (Real t, const Config &x) |
Appends a new milestone at the given time. | |
void | Clear () |
clears the path | |
void | Concat (const LinearPath &path, bool relative=true) |
void | Eval (Real t, Vector &xt) const |
Evaluates the path at time t. | |
void | Deriv (Real t, Vector &dxt) const |
Evaluates the path derivative at time t. | |
void | Eval (RobotModel &robot, Real t, Vector &xt) const |
Evaluates the path at time t, using proper interpolation for the given robot. | |
void | Deriv (RobotModel &robot, Real t, Vector &dxt) const |
Evaluates the path derivative at time t, using proper interpolation for the given robot. | |
Public Attributes | |
vector< Real > | times |
vector< Vector > | milestones |
A piecewise linear path.
void Klampt::LinearPath::Concat | ( | const LinearPath & | path, |
bool | relative = true |
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Concatenates the given path onto the end of this one. If relative = true, the path is added on with times relative to the end of the current path.