Public Types | Public Member Functions
descartes_trajectory::AxialSymmetricPt Class Reference

Specialization of cartesian trajectory point. Represents a cartesian point whose rotation about a chosen axis is unconstrained. More...

#include <axial_symmetric_pt.h>

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Public Types

enum  FreeAxis { X_AXIS, Y_AXIS, Z_AXIS }
 Enum used to select the free axis of rotation for this point. More...

Public Member Functions

 AxialSymmetricPt (const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
 This default constructor is exactly equivalent to CartTrajectoryPt's. Initializes all frames to identity.
 AxialSymmetricPt (double x, double y, double z, double rx, double ry, double rz, double orient_increment, FreeAxis axis, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
 Constructs a cartesian trajectory point that places the robot tip at the position defined by the transform from the origin of the world. The transform is first a translation by the vector (x,y,z) followed by an XYZ rotation (moving axis) by (rx,ry,rz) respectively.
 AxialSymmetricPt (const Eigen::Affine3d &pose, double orient_increment, FreeAxis axis, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
 Similar to other constructor except that it takes an affine pose instead of individual translation and rotation arguments.
virtual
descartes_core::TrajectoryPtPtr 
copy () const

Detailed Description

Specialization of cartesian trajectory point. Represents a cartesian point whose rotation about a chosen axis is unconstrained.

Definition at line 32 of file axial_symmetric_pt.h.


Member Enumeration Documentation

Enum used to select the free axis of rotation for this point.

Enumerator:
X_AXIS 
Y_AXIS 
Z_AXIS 

Definition at line 39 of file axial_symmetric_pt.h.


Constructor & Destructor Documentation

This default constructor is exactly equivalent to CartTrajectoryPt's. Initializes all frames to identity.

Definition at line 53 of file src/axial_symmetric_pt.cpp.

descartes_trajectory::AxialSymmetricPt::AxialSymmetricPt ( double  x,
double  y,
double  z,
double  rx,
double  ry,
double  rz,
double  orient_increment,
FreeAxis  axis,
const descartes_core::TimingConstraint timing = descartes_core::TimingConstraint() 
)

Constructs a cartesian trajectory point that places the robot tip at the position defined by the transform from the origin of the world. The transform is first a translation by the vector (x,y,z) followed by an XYZ rotation (moving axis) by (rx,ry,rz) respectively.

Parameters:
xx component of translation part of transform
yy component of translation part of transform
zz component of translation part of transform
rxrotation about x axis of nominal pose
ryrotation about y axis of nominal pose
rzrotation about z axis of nominal pose
orient_increment(in radians, discretization of space [-Pi, Pi])
axisThe free-axis of the nominal pose of the tool

Definition at line 57 of file src/axial_symmetric_pt.cpp.

descartes_trajectory::AxialSymmetricPt::AxialSymmetricPt ( const Eigen::Affine3d &  pose,
double  orient_increment,
FreeAxis  axis,
const descartes_core::TimingConstraint timing = descartes_core::TimingConstraint() 
)

Similar to other constructor except that it takes an affine pose instead of individual translation and rotation arguments.

Definition at line 67 of file src/axial_symmetric_pt.cpp.


Member Function Documentation

virtual descartes_core::TrajectoryPtPtr descartes_trajectory::AxialSymmetricPt::copy ( ) const [inline, virtual]

Reimplemented from descartes_trajectory::CartTrajectoryPt.

Definition at line 78 of file axial_symmetric_pt.h.


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


descartes_trajectory
Author(s): Jorge Nicho
autogenerated on Wed Aug 26 2015 11:21:27