#include <path_circle.hpp>
Public Member Functions | |
virtual Twist | Acc (double s, double sd, double sdd) const |
virtual Path * | Clone () |
virtual IdentifierType | getIdentifier () const |
double | LengthToS (double length) |
Path_Circle (const Frame &F_base_start, const Vector &V_base_center, const Vector &V_base_p, const Rotation &R_base_end, double alpha, RotationalInterpolation *otraj, double eqradius, 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_Circle () |
Private Attributes | |
bool | aggregate |
double | eqradius |
Frame | F_base_center |
RotationalInterpolation * | orient |
double | pathlength |
double | radius |
double | scalelin |
double | scalerot |
A circular Path with 'open ends'. Path_Arc would have been a better name though.
Definition at line 60 of file path_circle.hpp.
KDL::Path_Circle::Path_Circle | ( | const Frame & | F_base_start, |
const Vector & | V_base_center, | ||
const Vector & | V_base_p, | ||
const Rotation & | R_base_end, | ||
double | alpha, | ||
RotationalInterpolation * | otraj, | ||
double | eqradius, | ||
bool | _aggregate = true |
||
) |
CAN THROW Error_MotionPlanning_Circle_ToSmall CAN THROW Error_MotionPlanning_Circle_No_Plane
Definition at line 50 of file path_circle.cpp.
KDL::Path_Circle::~Path_Circle | ( | ) | [virtual] |
Definition at line 148 of file path_circle.cpp.
Twist KDL::Path_Circle::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 120 of file path_circle.cpp.
Path * KDL::Path_Circle::Clone | ( | ) | [virtual] |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implements KDL::Path.
Definition at line 135 of file path_circle.cpp.
virtual IdentifierType KDL::Path_Circle::getIdentifier | ( | ) | const [inline, virtual] |
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 107 of file path_circle.hpp.
double KDL::Path_Circle::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 95 of file path_circle.cpp.
double KDL::Path_Circle::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 100 of file path_circle.cpp.
Frame KDL::Path_Circle::Pos | ( | double | s | ) | const [virtual] |
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 104 of file path_circle.cpp.
Twist KDL::Path_Circle::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 112 of file path_circle.cpp.
void KDL::Path_Circle::Write | ( | std::ostream & | os | ) | [virtual] |
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 155 of file path_circle.cpp.
bool KDL::Path_Circle::aggregate [private] |
Definition at line 78 of file path_circle.hpp.
double KDL::Path_Circle::eqradius [private] |
Definition at line 71 of file path_circle.hpp.
Frame KDL::Path_Circle::F_base_center [private] |
Definition at line 68 of file path_circle.hpp.
RotationalInterpolation* KDL::Path_Circle::orient [private] |
Definition at line 64 of file path_circle.hpp.
double KDL::Path_Circle::pathlength [private] |
Definition at line 74 of file path_circle.hpp.
double KDL::Path_Circle::radius [private] |
Definition at line 67 of file path_circle.hpp.
double KDL::Path_Circle::scalelin [private] |
Definition at line 75 of file path_circle.hpp.
double KDL::Path_Circle::scalerot [private] |
Definition at line 76 of file path_circle.hpp.