#include <path_line.hpp>
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_Line (const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)  
Path_Line (const Frame &F_base_start, const Twist &twist_in_base, RotationalInterpolation *orient, 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_Line () 
Public Member Functions inherited from KDL::Path  
virtual  ~Path () 
Private Attributes  
bool  aggregate 
double  eqradius 
RotationalInterpolation *  orient 
double  pathlength 
double  scalelin 
double  scalerot 
Vector  V_base_end 
Vector  V_base_start 
Vector  V_start_end 
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) 
A path representing a line from A to B.
Definition at line 59 of file path_line.hpp.
KDL::Path_Line::Path_Line  (  const Frame &  F_base_start, 
const Frame &  F_base_end,  
RotationalInterpolation *  orient,  
double  eqradius,  
bool  _aggregate = true 

) 
Constructs a Line Path F_base_start and F_base_end give the begin and end frame wrt the base orient gives the method of rotation interpolation eqradius : equivalent radius : serves to compare rotations and translations. the "amount of motion"(pos,vel,acc) of the rotation is taken to be the amount motion of a point at distance eqradius from the rotation axis.
Eqradius is introduced because it is unavoidable that you have to compare rotations and translations : e.g. : You can have motions that only contain rotation, and motions that only contain translations. The motion planning goes as follows :
RotationalInterpolation_SingleAxis() has the advantage that it is independent of the frame in which you express your path. Other implementations for RotationalInterpolations COULD be (not implemented) (yet) : 1) quaternion interpolation : but this is more difficult for the human to interpret 2) 3axis interpolation : express the orientation of the frame in e.g. euler zyx angles alfa,beta, gamma and interpolate these parameters. But this is dependent of the frame you choose as a reference and their can occur representation singularities.
Definition at line 47 of file path_line.cpp.
KDL::Path_Line::Path_Line  (  const Frame &  F_base_start, 
const Twist &  twist_in_base,  
RotationalInterpolation *  orient,  
double  eqradius,  
bool  _aggregate = true 

) 
Definition at line 86 of file path_line.cpp.

virtual 
Definition at line 148 of file path_line.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 143 of file path_line.cpp.

virtual 
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implements KDL::Path.
Definition at line 153 of file path_line.cpp.

inlinevirtual 
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 128 of file path_line.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 129 of file path_line.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 132 of file path_line.cpp.

virtual 
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 135 of file path_line.cpp.

virtual 
Returns the velocity twist at path length s theta and with derivative of s == sd
Implements KDL::Path.
Definition at line 139 of file path_line.cpp.

virtual 
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 173 of file path_line.cpp.

private 
Definition at line 76 of file path_line.hpp.

private 
Definition at line 69 of file path_line.hpp.

private 
Definition at line 62 of file path_line.hpp.

private 
Definition at line 72 of file path_line.hpp.

private 
Definition at line 73 of file path_line.hpp.

private 
Definition at line 74 of file path_line.hpp.

private 
Definition at line 66 of file path_line.hpp.

private 
Definition at line 65 of file path_line.hpp.

private 
Definition at line 67 of file path_line.hpp.