KDL::Path_Point Class Reference

`#include <path_point.hpp>`

Inheritance diagram for KDL::Path_Point:

## 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_Point (const Frame &F_base_start) | |

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_Point () |

## Private Attributes | |

Frame | F_base_start |

A Path consisting only of a point in space.

Definition at line 61 of file path_point.hpp.

KDL::Path_Point::Path_Point | ( | const Frame & | F_base_start | ) |

Constructs a Point Path

Definition at line 47 of file path_point.cpp.

KDL::Path_Point::~Path_Point | ( | ) | ` [virtual]` |

Definition at line 70 of file path_point.cpp.

Twist KDL::Path_Point::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 66 of file path_point.cpp.

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

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

Implements KDL::Path.

Definition at line 73 of file path_point.cpp.

virtual IdentifierType KDL::Path_Point::getIdentifier | ( | ) | const` [inline, virtual]` |

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 80 of file path_point.hpp.

double KDL::Path_Point::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 52 of file path_point.cpp.

double KDL::Path_Point::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 55 of file path_point.cpp.

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

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 58 of file path_point.cpp.

Twist KDL::Path_Point::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 62 of file path_point.cpp.

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

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 77 of file path_point.cpp.

Frame KDL::Path_Point::F_base_start` [private]` |

Definition at line 63 of file path_point.hpp.

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