descartes_trajectory::AxialSymmetricPt Class Reference

Specialization of cartesian trajectory point. Represents a cartesian point whose rotation about a chosen axis is unconstrained. More...

`#include <axial_symmetric_pt.h>`

Inheritance diagram for descartes_trajectory::AxialSymmetricPt: [legend]

List of all members.

## Public Types

enum  FreeAxis { X_AXIS, Y_AXIS, Z_AXIS }
Enum used to select the free axis of rotation for this point. More...

## Public Member Functions

AxialSymmetricPt (const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
This default constructor is exactly equivalent to CartTrajectoryPt's. Initializes all frames to identity.
AxialSymmetricPt (double x, double y, double z, double rx, double ry, double rz, double orient_increment, FreeAxis axis, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
Constructs a cartesian trajectory point that places the robot tip at the position defined by the transform from the origin of the world. The transform is first a translation by the vector (x,y,z) followed by an XYZ rotation (moving axis) by (rx,ry,rz) respectively.
AxialSymmetricPt (const Eigen::Affine3d &pose, double orient_increment, FreeAxis axis, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
Similar to other constructor except that it takes an affine pose instead of individual translation and rotation arguments.
virtual
descartes_core::TrajectoryPtPtr
copy () const

## Detailed Description

Specialization of cartesian trajectory point. Represents a cartesian point whose rotation about a chosen axis is unconstrained.

Definition at line 31 of file axial_symmetric_pt.h.

## Member Enumeration Documentation

Enum used to select the free axis of rotation for this point.

Enumerator:
 X_AXIS Y_AXIS Z_AXIS

Definition at line 37 of file axial_symmetric_pt.h.

## Constructor & Destructor Documentation

 descartes_trajectory::AxialSymmetricPt::AxialSymmetricPt ( const descartes_core::TimingConstraint & timing = `descartes_core::TimingConstraint()` )

This default constructor is exactly equivalent to CartTrajectoryPt's. Initializes all frames to identity.

Definition at line 43 of file src/axial_symmetric_pt.cpp.

 descartes_trajectory::AxialSymmetricPt::AxialSymmetricPt ( double x, double y, double z, double rx, double ry, double rz, double orient_increment, FreeAxis axis, const descartes_core::TimingConstraint & timing = `descartes_core::TimingConstraint()` )

Constructs a cartesian trajectory point that places the robot tip at the position defined by the transform from the origin of the world. The transform is first a translation by the vector (x,y,z) followed by an XYZ rotation (moving axis) by (rx,ry,rz) respectively.

Parameters:
 x x component of translation part of transform y y component of translation part of transform z z component of translation part of transform rx rotation about x axis of nominal pose ry rotation about y axis of nominal pose rz rotation about z axis of nominal pose orient_increment (in radians, discretization of space [-Pi, Pi]) axis The free-axis of the nominal pose of the tool

Definition at line 47 of file src/axial_symmetric_pt.cpp.

 descartes_trajectory::AxialSymmetricPt::AxialSymmetricPt ( const Eigen::Affine3d & pose, double orient_increment, FreeAxis axis, const descartes_core::TimingConstraint & timing = `descartes_core::TimingConstraint()` )

Similar to other constructor except that it takes an affine pose instead of individual translation and rotation arguments.

Definition at line 57 of file src/axial_symmetric_pt.cpp.

## Member Function Documentation

 virtual descartes_core::TrajectoryPtPtr descartes_trajectory::AxialSymmetricPt::copy ( ) const` [inline, virtual]`

Reimplemented from descartes_trajectory::CartTrajectoryPt.

Definition at line 75 of file axial_symmetric_pt.h.

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

descartes_trajectory
Author(s): Jorge Nicho
autogenerated on Thu Jun 6 2019 21:36:04