I don't have any examples lying around. But the doxygen api
documentation of the motion module should give you some insight:

http://people.mech.kuleuven.be/~orocos/pub/devel/kdl/latest/api/html/gro...

A Path is the 6D geometric description of the positions for the motion.
A VelocityProfile is the time-dependent change of a value.
A Trajectory combines the two previous two primitives into a
time-dependent 6D geometric motion.

Ruben

On Thu, Jun 11, 2009 at 7:51 PM, Melonee Wise<mwise [..] ...> wrote:
> Hi -
>
> I was wondering if anyone has any examples of using the KDL trajectory/path
> to share. Something that maybe constructs a trajectory using several
> points/poses in cartesian space with/without time constraints (velocity
> constraints).
>
> thanks
>
> -Melonee
>
> --
> Senior Engineer
> Willow Garage
> 68 Willow Rd.
> Menlo Park, Ca 94025
>