#include <path_point.hpp>
Public Member Functions  
virtual Twist  Acc (double s, double sd, double sdd) const 
virtual Path *  Clone () 
virtual IdentifierType  getIdentifier () const 
double  LengthToS (double length) 
Path_Point (const Frame &F_base_start)  
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_Point () 
Public Member Functions inherited from KDL::Path  
virtual  ~Path () 
Private Attributes  
Frame  F_base_start 
Additional Inherited Members  
Public Types inherited from KDL::Path  
enum  IdentifierType { ID_LINE =1, ID_CIRCLE =2, ID_COMPOSITE =3, ID_ROUNDED_COMPOSITE =4, ID_POINT =5, ID_CYCLIC_CLOSED =6 } 
Static Public Member Functions inherited from KDL::Path  
static Path *  Read (std::istream &is) 
A Path consisting only of a point in space.
Definition at line 61 of file path_point.hpp.
KDL::Path_Point::Path_Point  (  const Frame &  F_base_start  ) 
Constructs a Point Path
Definition at line 47 of file path_point.cpp.

virtual 
Definition at line 70 of file path_point.cpp.

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 66 of file path_point.cpp.

virtual 
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implements KDL::Path.
Definition at line 73 of file path_point.cpp.

inlinevirtual 
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 80 of file path_point.hpp.

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 52 of file path_point.cpp.

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 55 of file path_point.cpp.

virtual 
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 58 of file path_point.cpp.

virtual 
Returns the velocity twist at path length s theta and with derivative of s == sd
Implements KDL::Path.
Definition at line 62 of file path_point.cpp.

virtual 
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 77 of file path_point.cpp.

private 
Definition at line 63 of file path_point.hpp.