Public Types | Public Member Functions | Static Public Member Functions | List of all members
KDL::Path Class Referenceabstract

#include <path.hpp>

Inheritance diagram for KDL::Path:
Inheritance graph
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Public Types

enum  IdentifierType {
  ID_LINE =1, ID_CIRCLE =2, ID_COMPOSITE =3, ID_ROUNDED_COMPOSITE =4,
  ID_POINT =5, ID_CYCLIC_CLOSED =6
}
 

Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const =0
 
virtual PathClone ()=0
 
virtual IdentifierType getIdentifier () const =0
 
virtual double LengthToS (double length)=0
 
virtual double PathLength ()=0
 
virtual Frame Pos (double s) const =0
 
virtual Twist Vel (double s, double sd) const =0
 
virtual void Write (std::ostream &os)=0
 
virtual ~Path ()
 

Static Public Member Functions

static PathRead (std::istream &is)
 

Detailed Description

The specification of the path of a trajectory.

Definition at line 58 of file path.hpp.

Member Enumeration Documentation

◆ IdentifierType

Enumerator
ID_LINE 
ID_CIRCLE 
ID_COMPOSITE 
ID_ROUNDED_COMPOSITE 
ID_POINT 
ID_CYCLIC_CLOSED 

Definition at line 61 of file path.hpp.

Constructor & Destructor Documentation

◆ ~Path()

virtual KDL::Path::~Path ( )
inlinevirtual

Definition at line 130 of file path.hpp.

Member Function Documentation

◆ Acc()

virtual Twist KDL::Path::Acc ( double  s,
double  sd,
double  sdd 
) const
pure virtual

Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

◆ Clone()

virtual Path* KDL::Path::Clone ( )
pure virtual

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

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Cyclic_Closed, and KDL::Path_Point.

◆ getIdentifier()

virtual IdentifierType KDL::Path::getIdentifier ( ) const
pure virtual

gets an identifier indicating the type of this Path object

Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

◆ PathLength()

virtual double KDL::Path::PathLength ( )
pure 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.

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

◆ Pos()

virtual Frame KDL::Path::Pos ( double  s) const
pure virtual

◆ Read()

Path * KDL::Path::Read ( std::istream &  is)
static

Reads one of the derived objects from the stream and returns a pointer (factory method)

Definition at line 62 of file path.cpp.

◆ Vel()

virtual Twist KDL::Path::Vel ( double  s,
double  sd 
) const
pure virtual

Returns the velocity twist at path length s theta and with derivative of s == sd

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.

◆ Write()

virtual void KDL::Path::Write ( std::ostream &  os)
pure virtual

Writes one of the derived objects to the stream

Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.


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


orocos_kdl
Author(s):
autogenerated on Mon Oct 19 2020 03:19:18