#include <path.hpp>
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 Path * | Clone ()=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 Path * | Read (std::istream &is) |
Detailed Description
Member Enumeration Documentation
Constructor & Destructor Documentation
| virtual KDL::Path::~Path | ( | ) | [inline, virtual] |
Member Function Documentation
| 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.
| 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.
| 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.
| 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.
| virtual Frame KDL::Path::Pos | ( | double | s | ) | const [pure virtual] |
Returns the Frame at the current path length s
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.
| Path * KDL::Path::Read | ( | std::istream & | is | ) | [static] |
Reads one of the derived objects from the stream and returns a pointer (factory method)
Reimplemented in KDL::Path_Cyclic_Closed.
| 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.
| 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: