Public Member Functions | Private Attributes | List of all members
KDL::Path_Circle Class Reference

#include <path_circle.hpp>

Inheritance diagram for KDL::Path_Circle:
Inheritance graph

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 ()
- Public Member Functions inherited from KDL::Path
virtual ~Path ()

Private Attributes

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

Additional Inherited Members

- Public Types inherited from KDL::Path
enum  IdentifierType {
- Static Public Member Functions inherited from KDL::Path
static PathRead (std::istream &is)

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 
KDL::Path_Circle::~Path_Circle ( )

Definition at line 148 of file path_circle.cpp.

Member Function Documentation

Twist KDL::Path_Circle::Acc ( double  s,
double  sd,
double  sdd 
) const

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 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

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)

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 ( )

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

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

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)

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 155 of file path_circle.cpp.

Member Data Documentation

bool KDL::Path_Circle::aggregate

Definition at line 78 of file path_circle.hpp.

double KDL::Path_Circle::eqradius

Definition at line 71 of file path_circle.hpp.

Frame KDL::Path_Circle::F_base_center

Definition at line 68 of file path_circle.hpp.

RotationalInterpolation* KDL::Path_Circle::orient

Definition at line 64 of file path_circle.hpp.

double KDL::Path_Circle::pathlength

Definition at line 74 of file path_circle.hpp.

double KDL::Path_Circle::radius

Definition at line 67 of file path_circle.hpp.

double KDL::Path_Circle::scalelin

Definition at line 75 of file path_circle.hpp.

double KDL::Path_Circle::scalerot

Definition at line 76 of file path_circle.hpp.

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

autogenerated on Wed Mar 6 2019 03:07:25