KDL::Path_Circle Class Reference

#include <path_circle.hpp>

Inheritance diagram for KDL::Path_Circle:

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_Circle (const Frame &F_base_start, const Vector &V_base_center, const Vector &V_base_p, const Rotation &R_base_end, double alpha, RotationalInterpolation *otraj, double eqradius, 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_Circle ()
Public Member Functions inherited from KDL::Path
virtual	~Path ()

Private Attributes
bool	aggregate
double	eqradius
Frame	F_base_center
RotationalInterpolation *	orient
double	pathlength
double	radius
double	scalelin
double	scalerot

Additional Inherited Members
Public Types inherited from KDL::Path
enum	IdentifierType {   ID_LINE =1, ID_CIRCLE =2, ID_COMPOSITE =3, ID_ROUNDED_COMPOSITE =4,   ID_POINT =5, ID_CYCLIC_CLOSED =6 }
Static Public Member Functions inherited from KDL::Path
static Path *	Read (std::istream &is)

Detailed Description

A circular Path with 'open ends'. Path_Arc would have been a better name though.

Definition at line 60 of file path_circle.hpp.

Constructor & Destructor Documentation

KDL::Path_Circle::Path_Circle	(	const Frame &	F_base_start,
		const Vector &	V_base_center,
		const Vector &	V_base_p,
		const Rotation &	R_base_end,
		double	alpha,
		RotationalInterpolation *	otraj,
		double	eqradius,
		bool	_aggregate = true
	)

CAN THROW Error_MotionPlanning_Circle_ToSmall CAN THROW Error_MotionPlanning_Circle_No_Plane

Definition at line 48 of file path_circle.cpp.

KDL::Path_Circle::~Path_Circle ( )

virtual

Definition at line 153 of file path_circle.cpp.

Member Function Documentation

Twist KDL::Path_Circle::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 125 of file path_circle.cpp.

Path * KDL::Path_Circle::Clone ( )

virtual

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

Implements KDL::Path.

Definition at line 140 of file path_circle.cpp.

virtual IdentifierType KDL::Path_Circle::getIdentifier ( ) const

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 107 of file path_circle.hpp.

double KDL::Path_Circle::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 100 of file path_circle.cpp.

double KDL::Path_Circle::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 105 of file path_circle.cpp.

Frame KDL::Path_Circle::Pos ( double  s ) const

virtual

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 109 of file path_circle.cpp.

Twist KDL::Path_Circle::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 117 of file path_circle.cpp.

void KDL::Path_Circle::Write ( std::ostream &  os )

virtual

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 158 of file path_circle.cpp.

Member Data Documentation

bool KDL::Path_Circle::aggregate

private

Definition at line 78 of file path_circle.hpp.

double KDL::Path_Circle::eqradius

private

Definition at line 71 of file path_circle.hpp.

Frame KDL::Path_Circle::F_base_center

private

Definition at line 68 of file path_circle.hpp.

RotationalInterpolation* KDL::Path_Circle::orient

private

Definition at line 64 of file path_circle.hpp.

double KDL::Path_Circle::pathlength

private

Definition at line 74 of file path_circle.hpp.

double KDL::Path_Circle::radius

private

Definition at line 67 of file path_circle.hpp.

double KDL::Path_Circle::scalelin

private

Definition at line 75 of file path_circle.hpp.

double KDL::Path_Circle::scalerot

private

Definition at line 76 of file path_circle.hpp.

---

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

• path_circle.hpp
• path_circle.cpp