#include <path_circle.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_Circle (const Frame &F_base_start, const Vector &V_base_center, const Vector &V_base_p, const Rotation &R_base_end, double alpha, RotationalInterpolation *otraj, 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_Circle () |
 Public Member Functions inherited from KDL::Path | |
| virtual | ~Path () |
Private Attributes | |
| bool | aggregate |
| double | eqradius |
| Frame | F_base_center |
| RotationalInterpolation * | orient |
| double | pathlength |
| double | radius |
| double | scalelin |
| double | scalerot |
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 circular Path with 'open ends'. Path_Arc would have been a better name though.
Definition at line 60 of file path_circle.hpp.
Constructor & Destructor Documentation
◆ Path_Circle()
| KDL::Path_Circle::Path_Circle | ( | const Frame & | F_base_start, |
| const Vector & | V_base_center, | ||
| const Vector & | V_base_p, | ||
| const Rotation & | R_base_end, | ||
| double | alpha, | ||
| RotationalInterpolation * | otraj, | ||
| double | eqradius, | ||
| bool | _aggregate = true |
||
| ) |
CAN THROW Error_MotionPlanning_Circle_ToSmall CAN THROW Error_MotionPlanning_Circle_No_Plane
Definition at line 48 of file path_circle.cpp.
◆ ~Path_Circle()
|
virtual |
Definition at line 153 of file path_circle.cpp.
Member Function Documentation
◆ Acc()
|
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 125 of file path_circle.cpp.
◆ Clone()
|
virtual |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implements KDL::Path.
Definition at line 140 of file path_circle.cpp.
◆ getIdentifier()
|
inlinevirtual |
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 107 of file path_circle.hpp.
◆ LengthToS()
|
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 100 of file path_circle.cpp.
◆ 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 105 of file path_circle.cpp.
◆ Pos()
|
virtual |
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 109 of file path_circle.cpp.
◆ Vel()
|
virtual |
Returns the velocity twist at path length s theta and with derivative of s == sd
Implements KDL::Path.
Definition at line 117 of file path_circle.cpp.
◆ Write()
|
virtual |
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 158 of file path_circle.cpp.
Member Data Documentation
◆ aggregate
|
private |
Definition at line 78 of file path_circle.hpp.
◆ eqradius
|
private |
Definition at line 71 of file path_circle.hpp.
◆ F_base_center
|
private |
Definition at line 68 of file path_circle.hpp.
◆ orient
|
private |
Definition at line 64 of file path_circle.hpp.
◆ pathlength
|
private |
Definition at line 74 of file path_circle.hpp.
◆ radius
|
private |
Definition at line 67 of file path_circle.hpp.
◆ scalelin
|
private |
Definition at line 75 of file path_circle.hpp.
◆ scalerot
|
private |
Definition at line 76 of file path_circle.hpp.
The documentation for this class was generated from the following files: