|virtual Twist||Acc (double s, double sd, double sdd) const|
|virtual Path *||Clone ()|
|virtual IdentifierType||getIdentifier () const|
|virtual double||LengthToS (double length)|
|Path_Cyclic_Closed (Path *_geom, int _times, 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)|
|static Path *||Read (std::istream &is)|
A Path representing a closed circular movement, which is traversed a number of times.
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.
Reads one of the derived objects from the stream and returns a pointer (factory method)
Reimplemented from KDL::Path.
|void KDL::Path_Cyclic_Closed::Write||(||std::ostream &||os||)||