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Subsections

p, dp, ddp

Syntax

short p(const Real time, ColumnVector & p);
short p_pdot(const Real time, ColumnVector & p, ColumnVector & pdot);
short p_pdot_pddot(const Real time, ColumnVector & p, ColumnVector & dp, 
                   ColumnVector & ddp);

Description

These functions interpolate the spline at time $t$ to sets the quaternion $p$ (position), $dp$ (velocity) and $ddp$ (acceleration).

Return Value

Status, as a short int.

0 successful
NOT_IN_RANGE (regarding $t$)
BAD_DATA



Richard Gourdeau 2004-07-06