A piecewise linear path. More...

#include <Paths.h>

Public Member Functions
	LinearPath (const vector< Real > &times, 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 (Robot &robot, Real t, Vector &xt) const
	Evaluates the path at time t, using proper interpolation for the given robot.

void	Deriv (Robot &robot, Real t, Vector &dxt) const
	Evaluates the path derivative at time t, using proper interpolation for the given robot.

Detailed Description

A piecewise linear path.

Member Function Documentation

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.

The documentation for this class was generated from the following file: