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KDL::Path_Point Class Reference
[Motion]

#include <path_point.hpp>

Inheritance diagram for KDL::Path_Point:
Inheritance graph
[legend]

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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orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013