#include <path_line.hpp>
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_Line (const Frame &F_base_start, const Twist &twist_in_base, RotationalInterpolation *orient, double eqradius, bool _aggregate=true) | |
Path_Line (const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, 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_Line () |
Private Attributes | |
bool | aggregate |
double | eqradius |
RotationalInterpolation * | orient |
double | pathlength |
double | scalelin |
double | scalerot |
Vector | V_base_end |
Vector | V_base_start |
Vector | V_start_end |
A path representing a line from A to B.
Definition at line 59 of file path_line.hpp.
KDL::Path_Line::Path_Line | ( | const Frame & | F_base_start, | |
const Frame & | F_base_end, | |||
RotationalInterpolation * | orient, | |||
double | eqradius, | |||
bool | _aggregate = true | |||
) |
Constructs a Line Path F_base_start and F_base_end give the begin and end frame wrt the base orient gives the method of rotation interpolation eqradius : equivalent radius : serves to compare rotations and translations. the "amount of motion"(pos,vel,acc) of the rotation is taken to be the amount motion of a point at distance eqradius from the rotation axis.
Eqradius is introduced because it is unavoidable that you have to compare rotations and translations : e.g. : You can have motions that only contain rotation, and motions that only contain translations. The motion planning goes as follows :
RotationalInterpolation_SingleAxis() has the advantage that it is independent of the frame in which you express your path. Other implementations for RotationalInterpolations COULD be (not implemented) (yet) : 1) quaternion interpolation : but this is more difficult for the human to interprete 2) 3-axis interpolation : express the orientation of the frame in e.g. euler zyx angles alfa,beta, gamma and interpolate these parameters. But this is dependent of the frame you choose as a reference and their can occur representation singularities.
Definition at line 47 of file path_line.cpp.
KDL::Path_Line::Path_Line | ( | const Frame & | F_base_start, | |
const Twist & | twist_in_base, | |||
RotationalInterpolation * | orient, | |||
double | eqradius, | |||
bool | _aggregate = true | |||
) |
Definition at line 86 of file path_line.cpp.
KDL::Path_Line::~Path_Line | ( | ) | [virtual] |
Definition at line 148 of file path_line.cpp.
Twist KDL::Path_Line::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 143 of file path_line.cpp.
Path * KDL::Path_Line::Clone | ( | ) | [virtual] |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implements KDL::Path.
Definition at line 153 of file path_line.cpp.
virtual IdentifierType KDL::Path_Line::getIdentifier | ( | ) | const [inline, virtual] |
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 128 of file path_line.hpp.
double KDL::Path_Line::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 129 of file path_line.cpp.
double KDL::Path_Line::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 132 of file path_line.cpp.
Frame KDL::Path_Line::Pos | ( | double | s | ) | const [virtual] |
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 135 of file path_line.cpp.
Twist KDL::Path_Line::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 139 of file path_line.cpp.
void KDL::Path_Line::Write | ( | std::ostream & | os | ) | [virtual] |
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 173 of file path_line.cpp.
bool KDL::Path_Line::aggregate [private] |
Definition at line 76 of file path_line.hpp.
double KDL::Path_Line::eqradius [private] |
Definition at line 69 of file path_line.hpp.
RotationalInterpolation* KDL::Path_Line::orient [private] |
Definition at line 62 of file path_line.hpp.
double KDL::Path_Line::pathlength [private] |
Definition at line 72 of file path_line.hpp.
double KDL::Path_Line::scalelin [private] |
Definition at line 73 of file path_line.hpp.
double KDL::Path_Line::scalerot [private] |
Definition at line 74 of file path_line.hpp.
Vector KDL::Path_Line::V_base_end [private] |
Definition at line 66 of file path_line.hpp.
Vector KDL::Path_Line::V_base_start [private] |
Definition at line 65 of file path_line.hpp.
Vector KDL::Path_Line::V_start_end [private] |
Definition at line 67 of file path_line.hpp.