KDL::Path_RoundedComposite Class Reference
[Motion]

#include <path_roundedcomposite.hpp>

Inheritance diagram for KDL::Path_RoundedComposite:

Public Member Functions
virtual Twist	Acc (double s, double sd, double sdd) const
void	Add (const Frame &F_base_point)
virtual Path *	Clone ()
void	Finish ()
virtual void	GetCurrentSegmentLocation (double s, int &segment_number, double &inner_s)
virtual IdentifierType	getIdentifier () const
virtual double	GetLengthToEndOfSegment (int i)
virtual int	GetNrOfSegments ()
virtual Path *	GetSegment (int i)
virtual double	LengthToS (double length)
	Path_RoundedComposite (double radius, double eqradius, RotationalInterpolation *orient, 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_RoundedComposite ()
Private Member Functions
	Path_RoundedComposite (Path_Composite comp, double radius, double eqradius, RotationalInterpolation orient, bool aggregate, int nrofpoints)
Private Attributes
bool	aggregate
Path_Composite *	comp
double	eqradius
Frame	F_base_start
Frame	F_base_via
int	nrofpoints
RotationalInterpolation *	orient
double	radius

Detailed Description

The specification of a path, composed of way-points with rounded corners.

Definition at line 58 of file path_roundedcomposite.hpp.

Constructor & Destructor Documentation

KDL::Path_RoundedComposite::Path_RoundedComposite	(	Path_Composite *	comp,
		double	radius,
		double	eqradius,
		RotationalInterpolation *	orient,
		bool	aggregate,
		int	nrofpoints
	)			`[private]`

Definition at line 54 of file path_roundedcomposite.cpp.

KDL::Path_RoundedComposite::Path_RoundedComposite	(	double	radius,
		double	eqradius,
		RotationalInterpolation *	orient,
		bool	aggregate = `true`
	)

Parameters:

	radius	: radius of the rounding circles
	eqradius	: equivalent radius to compare rotations/velocities
	orient	: method of rotational_interpolation interpolation
	aggregate	: if true, this object will own the _orient pointer, i.e. it will delete the _orient pointer when the destructor of this object is called.

Definition at line 60 of file path_roundedcomposite.cpp.

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

Definition at line 189 of file path_roundedcomposite.cpp.

Member Function Documentation

Twist KDL::Path_RoundedComposite::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 162 of file path_roundedcomposite.cpp.

void KDL::Path_RoundedComposite::Add ( const Frame & F_base_point )

Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle

The Error_MotionPlanning_Not_Feasible has a type (obtained by GetType) of:

3101 if the eq. radius <= 0
3102 if the first segment in a rounding has zero length.
3103 if the second segment in a rounding has zero length.
3104 if the angle between the first and the second segment is close to M_PI. (meaning that the segments are on top of each other)
3105 if the distance needed for the rounding is larger then the first segment.
3106 if the distance needed for the rounding is larger then the second segment.

Parameters:

F_base_point

the pose of a new via point.

Warning:: Can throw Error_MotionPlanning_Not_Feasible object handle the case of error type 3105 and 3106 by skipping segments, such that the class could be applied with points that are very close to each other.

Definition at line 69 of file path_roundedcomposite.cpp.

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

virtual constructor, constructing by copying. In this case it returns the Clone() of the aggregated Path_Composite because this is all one ever will need.

Implements KDL::Path.

Definition at line 196 of file path_roundedcomposite.cpp.

void KDL::Path_RoundedComposite::Finish ( )

to be called after the last line is added to finish up the work

Definition at line 137 of file path_roundedcomposite.cpp.

void KDL::Path_RoundedComposite::GetCurrentSegmentLocation	(	double	s,
		int &	segment_number,
		double &	inner_s
	)			`[virtual]`

Parameters:

	s	[INPUT] path length variable for the composite.
	segment_number	[OUTPUT] segments that corresponds to the path length variable s.
	inner_s	[OUTPUT] path length to use within the segment.

Definition at line 182 of file path_roundedcomposite.cpp.

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

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 190 of file path_roundedcomposite.hpp.

double KDL::Path_RoundedComposite::GetLengthToEndOfSegment ( int i ) [virtual]

gets the length to the end of the given segment.

Parameters:

i

segment number

Returns:: length to the end of the segment, i.e. the value for s corresponding to the end of this segment.

Definition at line 178 of file path_roundedcomposite.cpp.

int KDL::Path_RoundedComposite::GetNrOfSegments ( ) [virtual]

returns the number of underlying segments.

Definition at line 170 of file path_roundedcomposite.cpp.

Path * KDL::Path_RoundedComposite::GetSegment ( int i ) [virtual]

returns a pointer to the underlying Path of the given segment number i.

Parameters:

i

segment number

Returns:: pointer to the underlying Path

Warning:: The pointer is still owned by this class and is lifetime depends on the lifetime of this class.

Definition at line 174 of file path_roundedcomposite.cpp.

double KDL::Path_RoundedComposite::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 145 of file path_roundedcomposite.cpp.

double KDL::Path_RoundedComposite::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 150 of file path_roundedcomposite.cpp.

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

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 154 of file path_roundedcomposite.cpp.