KDL::Path_Cyclic_Closed Class Reference

`#include <path_cyclic_closed.hpp>`

Inheritance diagram for KDL::Path_Cyclic_Closed:

## Public Member Functions | |

virtual Twist | Acc (double s, double sd, double sdd) const |

virtual Path * | Clone () |

virtual IdentifierType | getIdentifier () const |

virtual double | LengthToS (double length) |

Path_Cyclic_Closed (Path *_geom, int _times, 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_Cyclic_Closed () |

## Static Public Member Functions | |

static Path * | Read (std::istream &is) |

## Private Attributes | |

bool | aggregate |

Path * | geom |

int | times |

A Path representing a closed circular movement, which is traversed a number of times.

Definition at line 60 of file path_cyclic_closed.hpp.

KDL::Path_Cyclic_Closed::Path_Cyclic_Closed | ( | Path * | _geom, |

int | _times, |
||

bool | _aggregate = `true` |
||

) |

Definition at line 48 of file path_cyclic_closed.cpp.

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

Definition at line 73 of file path_cyclic_closed.cpp.

Twist KDL::Path_Cyclic_Closed::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 68 of file path_cyclic_closed.cpp.

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

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

Implements KDL::Path.

Definition at line 78 of file path_cyclic_closed.cpp.

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

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 79 of file path_cyclic_closed.hpp.

double KDL::Path_Cyclic_Closed::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 51 of file path_cyclic_closed.cpp.

double KDL::Path_Cyclic_Closed::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 56 of file path_cyclic_closed.cpp.

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

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 60 of file path_cyclic_closed.cpp.

static Path* KDL::Path_Cyclic_Closed::Read | ( | std::istream & | is | ) | ` [static]` |

Reads one of the derived objects from the stream and returns a pointer (factory method)

Reimplemented from KDL::Path.

Twist KDL::Path_Cyclic_Closed::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 64 of file path_cyclic_closed.cpp.

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

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 82 of file path_cyclic_closed.cpp.

bool KDL::Path_Cyclic_Closed::aggregate` [private]` |

Definition at line 64 of file path_cyclic_closed.hpp.

Path* KDL::Path_Cyclic_Closed::geom` [private]` |

Definition at line 63 of file path_cyclic_closed.hpp.

int KDL::Path_Cyclic_Closed::times` [private]` |

Definition at line 62 of file path_cyclic_closed.hpp.

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