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00043 #include "path_cyclic_closed.hpp"
00044 #include "utilities/error.h"
00045
00046 namespace KDL {
00047
00048 Path_Cyclic_Closed::Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate):
00049 times(_times),geom(_geom), aggregate(_aggregate) {}
00050
00051 double Path_Cyclic_Closed::LengthToS(double length) {
00052 throw Error_MotionPlanning_Not_Applicable();
00053 return 0;
00054 }
00055
00056 double Path_Cyclic_Closed::PathLength(){
00057 return geom->PathLength()*times;
00058 }
00059
00060 Frame Path_Cyclic_Closed::Pos(double s) const {
00061 return geom->Pos( fmod(s,geom->PathLength()) );
00062 }
00063
00064 Twist Path_Cyclic_Closed::Vel(double s,double sd) const {
00065 return geom->Vel( fmod(s,geom->PathLength()),sd );
00066 }
00067
00068 Twist Path_Cyclic_Closed::Acc(double s,double sd,double sdd) const {
00069 return geom->Acc( fmod(s,geom->PathLength()),sd,sdd );
00070 }
00071
00072
00073 Path_Cyclic_Closed::~Path_Cyclic_Closed() {
00074 if (aggregate)
00075 delete geom;
00076 }
00077
00078 Path* Path_Cyclic_Closed::Clone() {
00079 return new Path_Cyclic_Closed(geom->Clone(),times, aggregate);
00080 }
00081
00082 void Path_Cyclic_Closed::Write(std::ostream& os) {
00083 os << "CYCLIC_CLOSED[ ";
00084 os << " ";geom->Write(os);os << std::endl;
00085 os << " " << times << std::endl;
00086 os << "]" << std::endl;
00087 }
00088
00089 }
00090