Public Member Functions | Static Public Member Functions | Private Attributes
KDL::Path_Cyclic_Closed Class Reference

#include <path_cyclic_closed.hpp>

Inheritance diagram for KDL::Path_Cyclic_Closed:
Inheritance graph
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List of all members.

Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const
virtual PathClone ()
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 PathRead (std::istream &is)

Private Attributes

bool aggregate
Pathgeom
int times

Detailed Description

A Path representing a closed circular movement, which is traversed a number of times.

Definition at line 60 of file path_cyclic_closed.hpp.


Constructor & Destructor Documentation

KDL::Path_Cyclic_Closed::Path_Cyclic_Closed ( Path _geom,
int  _times,
bool  _aggregate = true 
)

Definition at line 48 of file path_cyclic_closed.cpp.

Definition at line 73 of file path_cyclic_closed.cpp.


Member Function Documentation

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.

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.

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.


Member Data Documentation

Definition at line 64 of file path_cyclic_closed.hpp.

Definition at line 63 of file path_cyclic_closed.hpp.

Definition at line 62 of file path_cyclic_closed.hpp.


The documentation for this class was generated from the following files:


orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Sat Dec 28 2013 17:17:26