Class PathCircleGenerator

Defined in File path_circle_generator.h

Class Documentation

class PathCircleGenerator

Generator class for KDL::Path_Circle from different circle representations.

Public Static Functions

static std::unique_ptr<KDL::Path> circleFromCenter(const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &center_point, double eqradius)

set the path circle from start, goal and center point

Note that a half circle should use interim point and cannot be defined by circle center since start/goal/center points are colinear.

Throws:: KDL::Error_MotionPlanning – in case start and goal have different radii to the center point.

static std::unique_ptr<KDL::Path> circleFromInterim(const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &interim_point, double eqradius)

set circle from start, goal and interim point

Throws:: KDL::Error_MotionPlanning – if the given points are colinear.