KDL::Path_Point Class Reference

#include <path_point.hpp>

Inheritance diagram for KDL::Path_Point:
Inheritance graph

List of all members.

Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const
virtual PathClone ()
virtual IdentifierType getIdentifier () const
double LengthToS (double length)
 Path_Point (const Frame &F_base_start)
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_Point ()

Private Attributes

Frame F_base_start

Detailed Description

A Path consisting only of a point in space.

Definition at line 61 of file path_point.hpp.

Constructor & Destructor Documentation

KDL::Path_Point::Path_Point ( const Frame F_base_start  ) 

Constructs a Point Path

Definition at line 47 of file path_point.cpp.

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

Definition at line 70 of file path_point.cpp.

Member Function Documentation

Twist KDL::Path_Point::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 66 of file path_point.cpp.

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

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

Implements KDL::Path.

Definition at line 73 of file path_point.cpp.

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

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 80 of file path_point.hpp.

double KDL::Path_Point::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 52 of file path_point.cpp.

double KDL::Path_Point::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 55 of file path_point.cpp.

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

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 58 of file path_point.cpp.

Twist KDL::Path_Point::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 62 of file path_point.cpp.

void KDL::Path_Point::Write ( std::ostream &  os  )  [virtual]

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 77 of file path_point.cpp.

Member Data Documentation

Definition at line 63 of file path_point.hpp.

The documentation for this class was generated from the following files:
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Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013