#include <path_cyclic_closed.hpp>
Public Member Functions | |
virtual Twist | Acc (double s, double sd, double sdd) const |
virtual Path * | Clone () |
virtual IdentifierType | getIdentifier () const |
virtual double | LengthToS (double length) |
Path_Cyclic_Closed (Path *_geom, int _times, 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_Cyclic_Closed () |
Static Public Member Functions | |
static Path * | Read (std::istream &is) |
Private Attributes | |
bool | aggregate |
Path * | geom |
int | times |
A Path representing a closed circular movement, which is traversed a number of times.
Definition at line 60 of file path_cyclic_closed.hpp.
KDL::Path_Cyclic_Closed::Path_Cyclic_Closed | ( | Path * | _geom, | |
int | _times, | |||
bool | _aggregate = true | |||
) |
Definition at line 48 of file path_cyclic_closed.cpp.
KDL::Path_Cyclic_Closed::~Path_Cyclic_Closed | ( | ) | [virtual] |
Definition at line 73 of file path_cyclic_closed.cpp.
Twist KDL::Path_Cyclic_Closed::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 68 of file path_cyclic_closed.cpp.
Path * KDL::Path_Cyclic_Closed::Clone | ( | ) | [virtual] |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implements KDL::Path.
Definition at line 78 of file path_cyclic_closed.cpp.
virtual IdentifierType KDL::Path_Cyclic_Closed::getIdentifier | ( | ) | const [inline, virtual] |
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 79 of file path_cyclic_closed.hpp.
double KDL::Path_Cyclic_Closed::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 51 of file path_cyclic_closed.cpp.
double KDL::Path_Cyclic_Closed::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 56 of file path_cyclic_closed.cpp.
Frame KDL::Path_Cyclic_Closed::Pos | ( | double | s | ) | const [virtual] |
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 60 of file path_cyclic_closed.cpp.
static Path* KDL::Path_Cyclic_Closed::Read | ( | std::istream & | is | ) | [static] |
Reads one of the derived objects from the stream and returns a pointer (factory method)
Reimplemented from KDL::Path.
Twist KDL::Path_Cyclic_Closed::Vel | ( | double | s, | |
double | sd | |||
) | const [virtual] |
Returns the velocity twist at path length s theta and with derivative of s == sd
Implements KDL::Path.
Definition at line 64 of file path_cyclic_closed.cpp.
void KDL::Path_Cyclic_Closed::Write | ( | std::ostream & | os | ) | [virtual] |
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 82 of file path_cyclic_closed.cpp.
bool KDL::Path_Cyclic_Closed::aggregate [private] |
Definition at line 64 of file path_cyclic_closed.hpp.
Path* KDL::Path_Cyclic_Closed::geom [private] |
Definition at line 63 of file path_cyclic_closed.hpp.
int KDL::Path_Cyclic_Closed::times [private] |
Definition at line 62 of file path_cyclic_closed.hpp.