Motion(void)

Constructor/Destructor

~Motion(void)

void ComputeTfromState(int state)

void ComputeDelta(void)

int LoadXML(char* file_name)

Parse Motion in a XML file ------- (1 if OK, 0 if ERROR)

int ParseXML(xmlDocPtr doc, xmlNodePtr cur)

void Initialize(void)

Vector3D GetPivot(void)

Quaternion ComputefromInput(double continuous_input)

Quaternion ComputefromInput(int discrete_input)

float GetDelta(void) const

float GetGain(void) const

float t

float t_max

tiempo instantáneo;

float delta

tiempo que dura el movimiento (duration)

float gain

Deflexión/desplazamiento instantáneo

int type_motion

Deflexión/desplazamiento de referencia

Vector3D axisP0

Variables for rotation

Vector3D axisP1

Vector3D axis

Vector3D pivot

int type_input

int prev_state

variables for discrete motion input control

int active

void addFunction01(void)

active: -1=move down 0=stop 1=move up

inline void addFunction01(const Function01 &f)

vector<Function01> functions

This class has no child classes.

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