Motion

All classes related to the non-instantaneous motion of rigid bodies and kinematic structures, e.g., path and trajecory definitions and their building blocks. More...

Classes
class	KDL::Path_Circle
class	KDL::Path_Composite
class	KDL::Path_Cyclic_Closed
class	KDL::Path_Line
class	KDL::Path_Point
class	KDL::Path_RoundedComposite
class	KDL::RotationalInterpolation
class	KDL::RotationalInterpolation_SingleAxis
class	KDL::Trajectory
class	KDL::Trajectory_Composite
class	KDL::Trajectory_Segment
class	KDL::Trajectory_Stationary
class	KDL::VelocityProfile
class	KDL::VelocityProfile_Dirac
class	KDL::VelocityProfile_Rectangular
class	KDL::VelocityProfile_Spline
	A spline VelocityProfile trajectory interpolation. More...
class	KDL::VelocityProfile_Trap
class	KDL::VelocityProfile_TrapHalf
Functions
virtual double	KDL::Path::LengthToS (double length)=0

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Detailed Description

All classes related to the non-instantaneous motion of rigid bodies and kinematic structures, e.g., path and trajecory definitions and their building blocks.

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Function Documentation

virtual double KDL::Path::LengthToS

(

double

length

)

[pure 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.

Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Point, and KDL::Path_Cyclic_Closed.