#include <path_cyclic_closed.hpp>
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 () 
Public Member Functions inherited from KDL::Path  
virtual  ~Path () 
Static Public Member Functions  
static Path *  Read (std::istream &is) 
Static Public Member Functions inherited from KDL::Path  
static Path *  Read (std::istream &is) 
Private Attributes  
bool  aggregate 
Path *  geom 
int  times 
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 } 
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.

virtual 
Definition at line 73 of file path_cyclic_closed.cpp.

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.

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.

inlinevirtual 
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 79 of file path_cyclic_closed.hpp.

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.

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.

virtual 
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 60 of file path_cyclic_closed.cpp.

static 

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.

virtual 
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 82 of file path_cyclic_closed.cpp.

private 
Definition at line 64 of file path_cyclic_closed.hpp.

private 
Definition at line 63 of file path_cyclic_closed.hpp.

private 
Definition at line 62 of file path_cyclic_closed.hpp.