Public Member Functions | Private Attributes
KDL::Path_Circle Class Reference

#include <path_circle.hpp>

Inheritance diagram for KDL::Path_Circle:
Inheritance graph

List of all members.

Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const
virtual PathClone ()
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 ()

Private Attributes

bool aggregate
double eqradius
Frame F_base_center
double pathlength
double radius
double scalelin
double scalerot

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

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 

Definition at line 148 of file path_circle.cpp.

Member Function Documentation

Twist KDL::Path_Circle::Acc ( double  s,
double  sd,
double  sdd 
) const [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 120 of file path_circle.cpp.

Path * KDL::Path_Circle::Clone ( ) [virtual]

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

Implements KDL::Path.

Definition at line 135 of file path_circle.cpp.

virtual IdentifierType KDL::Path_Circle::getIdentifier ( ) const [inline, virtual]

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 107 of file path_circle.hpp.

double KDL::Path_Circle::LengthToS ( double  length) [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 95 of file path_circle.cpp.

double KDL::Path_Circle::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 100 of file path_circle.cpp.

Frame KDL::Path_Circle::Pos ( double  s) const [virtual]

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 104 of file path_circle.cpp.

Twist KDL::Path_Circle::Vel ( double  s,
double  sd 
) const [virtual]

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

Implements KDL::Path.

Definition at line 112 of file path_circle.cpp.

void KDL::Path_Circle::Write ( std::ostream &  os) [virtual]

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 155 of file path_circle.cpp.

Member Data Documentation

Definition at line 78 of file path_circle.hpp.

double KDL::Path_Circle::eqradius [private]

Definition at line 71 of file path_circle.hpp.

Definition at line 68 of file path_circle.hpp.

Definition at line 64 of file path_circle.hpp.

double KDL::Path_Circle::pathlength [private]

Definition at line 74 of file path_circle.hpp.

double KDL::Path_Circle::radius [private]

Definition at line 67 of file path_circle.hpp.

double KDL::Path_Circle::scalelin [private]

Definition at line 75 of file path_circle.hpp.

double KDL::Path_Circle::scalerot [private]

Definition at line 76 of file path_circle.hpp.

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

autogenerated on Sat Oct 7 2017 03:04:29