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

#include <path_point.hpp>

Inheritance diagram for KDL::Path_Point:
Inheritance graph
[legend]

Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const
 
virtual PathClone ()
 
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 PathRead (std::istream &is)
 

Detailed Description

A Path consisting only of a point in space.

Definition at line 61 of file path_point.hpp.

Constructor & Destructor Documentation

KDL::Path_Point::Path_Point ( const Frame F_base_start)

Constructs a Point Path

Definition at line 47 of file path_point.cpp.

KDL::Path_Point::~Path_Point ( )
virtual

Definition at line 70 of file path_point.cpp.

Member Function Documentation

Twist KDL::Path_Point::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 66 of file path_point.cpp.

Path * KDL::Path_Point::Clone ( )
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.

virtual IdentifierType KDL::Path_Point::getIdentifier ( ) const
inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 80 of file path_point.hpp.

double KDL::Path_Point::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 52 of file path_point.cpp.

double KDL::Path_Point::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 55 of file path_point.cpp.

Frame KDL::Path_Point::Pos ( double  s) const
virtual

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 58 of file path_point.cpp.

Twist KDL::Path_Point::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 62 of file path_point.cpp.

void KDL::Path_Point::Write ( std::ostream &  os)
virtual

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 77 of file path_point.cpp.

Member Data Documentation

Frame KDL::Path_Point::F_base_start
private

Definition at line 63 of file path_point.hpp.


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


orocos_kdl
Author(s):
autogenerated on Wed Mar 6 2019 03:07:25