All classes related to the non-instantaneous motion of rigid bodies and kinematic structures, e.g., path and trajecory definitions and their building blocks. More...
Classes | |
class | KDL::Path_Circle |
class | KDL::Path_Composite |
class | KDL::Path_Cyclic_Closed |
class | KDL::Path_Line |
class | KDL::Path_Point |
class | KDL::Path_RoundedComposite |
class | KDL::RotationalInterpolation |
class | KDL::RotationalInterpolation_SingleAxis |
class | KDL::Trajectory |
class | KDL::Trajectory_Composite |
class | KDL::Trajectory_Segment |
class | KDL::Trajectory_Stationary |
class | KDL::VelocityProfile |
class | KDL::VelocityProfile_Dirac |
class | KDL::VelocityProfile_Rectangular |
class | KDL::VelocityProfile_Spline |
A spline VelocityProfile trajectory interpolation. More... | |
class | KDL::VelocityProfile_Trap |
class | KDL::VelocityProfile_TrapHalf |
Functions | |
virtual double | KDL::Path::LengthToS (double length)=0 |
All classes related to the non-instantaneous motion of rigid bodies and kinematic structures, e.g., path and trajecory definitions and their building blocks.
virtual double KDL::Path::LengthToS | ( | double | length | ) | [pure 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.
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Point, and KDL::Path_Cyclic_Closed.