#include <path_roundedcomposite.hpp>

Inheritance diagram for KDL::Path_RoundedComposite:

Public Member Functions
virtual Twist	Acc (double s, double sd, double sdd) const

void	Add (const Frame &F_base_point)

virtual Path *	Clone ()

void	Finish ()

virtual void	GetCurrentSegmentLocation (double s, int &segment_number, double &inner_s)

virtual IdentifierType	getIdentifier () const

virtual double	GetLengthToEndOfSegment (int i)

virtual int	GetNrOfSegments ()

virtual Path *	GetSegment (int i)

virtual double	LengthToS (double length)

	Path_RoundedComposite (double radius, double eqradius, RotationalInterpolation *orient, 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_RoundedComposite ()

Public Member Functions inherited from KDL::Path
virtual	~Path ()

Private Member Functions
	Path_RoundedComposite (Path_Composite comp, double radius, double eqradius, RotationalInterpolation orient, bool aggregate, int nrofpoints)

Private Attributes
bool	aggregate

Path_Composite *	comp

double	eqradius

Frame	F_base_start

Frame	F_base_via

int	nrofpoints

RotationalInterpolation *	orient

double	radius

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

The specification of a path, composed of way-points with rounded corners.

Definition at line 58 of file path_roundedcomposite.hpp.

Constructor & Destructor Documentation

KDL::Path_RoundedComposite::Path_RoundedComposite	(	Path_Composite *	comp,
		double	radius,
		double	eqradius,
		RotationalInterpolation *	orient,
		bool	aggregate,
		int	nrofpoints
	)

private

Definition at line 55 of file path_roundedcomposite.cpp.

KDL::Path_RoundedComposite::Path_RoundedComposite	(	double	radius,
		double	eqradius,
		RotationalInterpolation *	orient,
		bool	aggregate = `true`
	)

Parameters

radius	: radius of the rounding circles
eqradius	: equivalent radius to compare rotations/velocities
orient	: method of rotational_interpolation interpolation
aggregate	: if true, this object will own the _orient pointer, i.e. it will delete the _orient pointer when the destructor of this object is called.

Definition at line 61 of file path_roundedcomposite.cpp.

KDL::Path_RoundedComposite::~Path_RoundedComposite ( )

virtual

Definition at line 191 of file path_roundedcomposite.cpp.

Member Function Documentation

Twist KDL::Path_RoundedComposite::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 164 of file path_roundedcomposite.cpp.

void KDL::Path_RoundedComposite::Add ( const Frame & F_base_point )

Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle

The Error_MotionPlanning_Not_Feasible has a type (obtained by GetType) of:

3101 if the eq. radius <= 0
3102 if the first segment in a rounding has zero length.
3103 if the second segment in a rounding has zero length.
3104 if the angle between the first and the second segment is close to PI. (meaning that the segments are on top of each other)
3105 if the distance needed for the rounding is larger then the first segment.
3106 if the distance needed for the rounding is larger then the second segment.

Parameters

F_base_point the pose of a new via point.

Warning: Can throw Error_MotionPlanning_Not_Feasible object handle the case of error type 3105 and 3106 by skipping segments, such that the class could be applied with points that are very close to each other.

Definition at line 70 of file path_roundedcomposite.cpp.

Path * KDL::Path_RoundedComposite::Clone ( )

virtual

virtual constructor, constructing by copying. In this case it returns the Clone() of the aggregated Path_Composite because this is all one ever will need.

Implements KDL::Path.

Definition at line 198 of file path_roundedcomposite.cpp.

void KDL::Path_RoundedComposite::Finish ( )

to be called after the last line is added to finish up the work

Definition at line 139 of file path_roundedcomposite.cpp.

void KDL::Path_RoundedComposite::GetCurrentSegmentLocation	(	double	s,
		int &	segment_number,
		double &	inner_s
	)

virtual

Parameters

s	[INPUT] path length variable for the composite.
segment_number	[OUTPUT] segments that corresponds to the path length variable s.
inner_s	[OUTPUT] path length to use within the segment.

Definition at line 184 of file path_roundedcomposite.cpp.

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

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 190 of file path_roundedcomposite.hpp.

double KDL::Path_RoundedComposite::GetLengthToEndOfSegment ( int i )

virtual

gets the length to the end of the given segment.

Parameters

i	segment number

Returns: length to the end of the segment, i.e. the value for s corresponding to the end of this segment.

Definition at line 180 of file path_roundedcomposite.cpp.

int KDL::Path_RoundedComposite::GetNrOfSegments ( )

virtual

returns the number of underlying segments.

Definition at line 172 of file path_roundedcomposite.cpp.

Path * KDL::Path_RoundedComposite::GetSegment ( int i )

virtual

returns a pointer to the underlying Path of the given segment number i.

Parameters

i	segment number

Returns: pointer to the underlying Path

Warning: The pointer is still owned by this class and is lifetime depends on the lifetime of this class.

Definition at line 176 of file path_roundedcomposite.cpp.

double KDL::Path_RoundedComposite::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 147 of file path_roundedcomposite.cpp.

double KDL::Path_RoundedComposite::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 152 of file path_roundedcomposite.cpp.

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

virtual

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 156 of file path_roundedcomposite.cpp.

Twist KDL::Path_RoundedComposite::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 160 of file path_roundedcomposite.cpp.

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

virtual

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 168 of file path_roundedcomposite.cpp.

Member Data Documentation

bool KDL::Path_RoundedComposite::aggregate

private

Definition at line 75 of file path_roundedcomposite.hpp.

Path_Composite* KDL::Path_RoundedComposite::comp

private

a Path_Composite is aggregated to hold the rounded trajectory with circles and lines

Definition at line 63 of file path_roundedcomposite.hpp.

double KDL::Path_RoundedComposite::eqradius

private

Definition at line 67 of file path_roundedcomposite.hpp.

Frame KDL::Path_RoundedComposite::F_base_start

private

Definition at line 70 of file path_roundedcomposite.hpp.

Frame KDL::Path_RoundedComposite::F_base_via

private

Definition at line 71 of file path_roundedcomposite.hpp.

int KDL::Path_RoundedComposite::nrofpoints

private

Definition at line 73 of file path_roundedcomposite.hpp.

RotationalInterpolation* KDL::Path_RoundedComposite::orient

private

Definition at line 68 of file path_roundedcomposite.hpp.

double KDL::Path_RoundedComposite::radius

private

Definition at line 66 of file path_roundedcomposite.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation