KDL::Path Class Reference

#include <path.hpp>

Inheritance diagram for KDL::Path:

Public Types
enum	IdentifierType { ID_LINE = 1, ID_CIRCLE = 2, ID_COMPOSITE = 3, ID_ROUNDED_COMPOSITE = 4, ID_POINT = 5, ID_CYCLIC_CLOSED = 6 }
Public Member Functions
virtual Twist	Acc (double s, double sd, double sdd) const =0
virtual Path *	Clone ()=0
virtual IdentifierType	getIdentifier () const =0
virtual double	LengthToS (double length)=0
virtual double	PathLength ()=0
virtual Frame	Pos (double s) const =0
virtual Twist	Vel (double s, double sd) const =0
virtual void	Write (std::ostream &os)=0
virtual	~Path ()
Static Public Member Functions
static Path *	Read (std::istream &is)

Detailed Description

The specification of the path of a trajectory.

Definition at line 58 of file path.hpp.

Member Enumeration Documentation

enum KDL::Path::IdentifierType

Enumerator:

ID_LINE
ID_CIRCLE
ID_COMPOSITE
ID_ROUNDED_COMPOSITE
ID_POINT
ID_CYCLIC_CLOSED

Definition at line 61 of file path.hpp.

Constructor & Destructor Documentation

virtual KDL::Path::~Path ( ) [inline, virtual]

Definition at line 130 of file path.hpp.

Member Function Documentation

virtual Twist KDL::Path::Acc	(	double	s,
		double	sd,
		double	sdd
	)			const `[pure virtual]`

Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

virtual Path* KDL::Path::Clone ( ) [pure virtual]

Virtual constructor, constructing by copying, Returns a deep copy of this Path Object

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

virtual IdentifierType KDL::Path::getIdentifier ( ) const [pure virtual]

gets an identifier indicating the type of this Path object

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

virtual double KDL::Path::PathLength ( ) [pure virtual]

Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical length , ie when dealing with rotations that are dominant.

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

virtual Frame KDL::Path::Pos ( double s ) const [pure virtual]

Returns the Frame at the current path length s

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

static Path* KDL::Path::Read ( std::istream & is ) [static]

Reads one of the derived objects from the stream and returns a pointer (factory method)

Reimplemented in KDL::Path_Cyclic_Closed.