KDL::Path_Circle Class Reference
[Motion]

#include <path_circle.hpp>

Inheritance diagram for KDL::Path_Circle:

Public Member Functions
virtual Twist	Acc (double s, double sd, double sdd) const
virtual Path *	Clone ()
virtual IdentifierType	getIdentifier () const
double	LengthToS (double length)
	Path_Circle (const Frame &F_base_start, const Vector &V_base_center, const Vector &V_base_p, const Rotation &R_base_end, double alpha, RotationalInterpolation *otraj, double eqradius, bool _aggregate=true)
virtual double	PathLength ()
virtual Frame	Pos (double s) const
virtual Twist	Vel (double s, double sd) const
virtual void	Write (std::ostream &os)
virtual	~Path_Circle ()
Private Attributes
bool	aggregate
double	eqradius
Frame	F_base_center
RotationalInterpolation *	orient
double	pathlength
double	radius
double	scalelin
double	scalerot

Detailed Description

A circular Path with 'open ends'. Path_Arc would have been a better name though.

Definition at line 60 of file path_circle.hpp.

Constructor & Destructor Documentation

KDL::Path_Circle::Path_Circle	(	const Frame &	F_base_start,
		const Vector &	V_base_center,
		const Vector &	V_base_p,
		const Rotation &	R_base_end,
		double	alpha,
		RotationalInterpolation *	otraj,
		double	eqradius,
		bool	_aggregate = `true`
	)

CAN THROW Error_MotionPlanning_Circle_ToSmall CAN THROW Error_MotionPlanning_Circle_No_Plane

Definition at line 50 of file path_circle.cpp.

KDL::Path_Circle::~Path_Circle ( ) [virtual]

Definition at line 148 of file path_circle.cpp.

Member Function Documentation

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

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

Implements KDL::Path.

Definition at line 120 of file path_circle.cpp.

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

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

Implements KDL::Path.

Definition at line 135 of file path_circle.cpp.

virtual IdentifierType KDL::Path_Circle::getIdentifier ( ) const [inline, virtual]

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 107 of file path_circle.hpp.

double KDL::Path_Circle::LengthToS ( double length ) [virtual]

LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc. This is used because in cases with large rotations the parameter s does NOT correspond to the lineair length along the trajectory. User should be sure that the lineair distance travelled by this path object is NOT zero, when using this method ! (e.g. the case of only rotational change) throws Error_MotionPlanning_Not_Applicable if used on composed path objects.

Implements KDL::Path.

Definition at line 95 of file path_circle.cpp.

double KDL::Path_Circle::PathLength ( ) [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.

Implements KDL::Path.

Definition at line 100 of file path_circle.cpp.

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

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 104 of file path_circle.cpp.