Public Member Functions | Static Public Member Functions | Private Attributes | List of all members
KDL::Path_Cyclic_Closed Class Reference

#include <path_cyclic_closed.hpp>

Inheritance diagram for KDL::Path_Cyclic_Closed:
Inheritance graph

Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const
virtual PathClone ()
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 ()
- Public Member Functions inherited from KDL::Path
virtual ~Path ()

Static Public Member Functions

static PathRead (std::istream &is)
- Static Public Member Functions inherited from KDL::Path
static PathRead (std::istream &is)

Private Attributes

bool aggregate
int times

Additional Inherited Members

- Public Types inherited from KDL::Path
enum  IdentifierType {

Detailed Description

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

Definition at line 60 of file path_cyclic_closed.hpp.

Constructor & Destructor Documentation

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 ( )

Definition at line 73 of file path_cyclic_closed.cpp.

Member Function Documentation

Twist KDL::Path_Cyclic_Closed::Acc ( double  s,
double  sd,
double  sdd 
) const

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 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

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)

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 ( )

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

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)
Twist KDL::Path_Cyclic_Closed::Vel ( double  s,
double  sd 
) const

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)

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 82 of file path_cyclic_closed.cpp.

Member Data Documentation

bool KDL::Path_Cyclic_Closed::aggregate

Definition at line 64 of file path_cyclic_closed.hpp.

Path* KDL::Path_Cyclic_Closed::geom

Definition at line 63 of file path_cyclic_closed.hpp.

int KDL::Path_Cyclic_Closed::times

Definition at line 62 of file path_cyclic_closed.hpp.

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

autogenerated on Fri Mar 12 2021 03:05:44