KDL::Path_Point Class Reference

#include <path_point.hpp>

Inheritance diagram for KDL::Path_Point:

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_Point (const Frame &F_base_start)
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_Point ()
Public Member Functions inherited from KDL::Path
virtual	~Path ()

Private Attributes
Frame	F_base_start

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 Path consisting only of a point in space.

Definition at line 61 of file path_point.hpp.

Constructor & Destructor Documentation

KDL::Path_Point::Path_Point

(

const Frame &

F_base_start

)

Constructs a Point Path

Definition at line 47 of file path_point.cpp.

KDL::Path_Point::~Path_Point ( )

virtual

Definition at line 70 of file path_point.cpp.

Member Function Documentation

Twist KDL::Path_Point::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 66 of file path_point.cpp.

Path * KDL::Path_Point::Clone ( )

virtual

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

Implements KDL::Path.

Definition at line 73 of file path_point.cpp.

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

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 80 of file path_point.hpp.

double KDL::Path_Point::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 52 of file path_point.cpp.

double KDL::Path_Point::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 55 of file path_point.cpp.

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

virtual

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 58 of file path_point.cpp.

Twist KDL::Path_Point::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 62 of file path_point.cpp.

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

virtual

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 77 of file path_point.cpp.

Member Data Documentation

Frame KDL::Path_Point::F_base_start

private

Definition at line 63 of file path_point.hpp.

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

• path_point.hpp
• path_point.cpp