KDL::Path Class Reference

`#include <path.hpp>`

Inheritance diagram for KDL::Path:

## Public Types | |

enum | IdentifierType { ID_LINE = 1, ID_CIRCLE = 2, ID_COMPOSITE = 3, ID_ROUNDED_COMPOSITE = 4, ID_POINT = 5, ID_CYCLIC_CLOSED = 6 } |

## Public Member Functions | |

virtual Twist | Acc (double s, double sd, double sdd) const =0 |

virtual Path * | Clone ()=0 |

virtual IdentifierType | getIdentifier () const =0 |

virtual double | LengthToS (double length)=0 |

virtual double | PathLength ()=0 |

virtual Frame | Pos (double s) const =0 |

virtual Twist | Vel (double s, double sd) const =0 |

virtual void | Write (std::ostream &os)=0 |

virtual | ~Path () |

## Static Public Member Functions | |

static Path * | Read (std::istream &is) |

virtual KDL::Path::~Path | ( | ) | ` [inline, virtual]` |

virtual Twist KDL::Path::Acc | ( | double | s, |

double | sd, |
||

double | sdd |
||

) | const` [pure virtual]` |

Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

virtual Path* KDL::Path::Clone | ( | ) | ` [pure virtual]` |

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

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Cyclic_Closed, and KDL::Path_Point.

virtual IdentifierType KDL::Path::getIdentifier | ( | ) | const` [pure virtual]` |

gets an identifier indicating the type of this Path object

Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

virtual double KDL::Path::PathLength | ( | ) | ` [pure 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.

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

virtual Frame KDL::Path::Pos | ( | double | s | ) | const` [pure virtual]` |

Returns the Frame at the current path length s

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

Path * KDL::Path::Read | ( | std::istream & | is | ) | ` [static]` |

Reads one of the derived objects from the stream and returns a pointer (factory method)

Reimplemented in KDL::Path_Cyclic_Closed.

virtual Twist KDL::Path::Vel | ( | double | s, |

double | sd |
||

) | const` [pure virtual]` |

Returns the velocity twist at path length s theta and with derivative of s == sd

virtual void KDL::Path::Write | ( | std::ostream & | os | ) | ` [pure virtual]` |

Writes one of the derived objects to the stream

Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

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