pilz::PathCircleGenerator Class Reference

Generator class for KDL::Path_Circle from different circle representations. More...

#include <path_circle_generator.h>

Static Public Member Functions
static std::unique_ptr< KDL::Path >	circleFromCenter (const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &center_point, double eqradius)
	set the path circle from start, goal and center point More...
static std::unique_ptr< KDL::Path >	circleFromInterim (const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &interim_point, double eqradius)
	set circle from start, goal and interim point More...

Private Member Functions
	PathCircleGenerator ()

Static Private Member Functions
static double	cosines (const double a, const double b, const double c)
	law of cosines: returns angle gamma in c² = a²+b²-2ab cos(gamma) More...

Static Private Attributes
static constexpr double	MAX_COLINEAR_NORM {1e-5}
static constexpr double	MAX_RADIUS_DIFF {1e-2}

Detailed Description

Generator class for KDL::Path_Circle from different circle representations.

Definition at line 30 of file path_circle_generator.h.

Constructor & Destructor Documentation

pilz::PathCircleGenerator::PathCircleGenerator ( )

inlineprivate

Definition at line 58 of file path_circle_generator.h.

Member Function Documentation

std::unique_ptr< KDL::Path > pilz::PathCircleGenerator::circleFromCenter ( const KDL::Frame &  start_pose, const KDL::Frame &  goal_pose, const KDL::Vector &  center_point, double  eqradius  )

static

set the path circle from start, goal and center point

Note that a half circle should use interim point and cannot be defined by circle center since start/goal/center points are colinear.

Exceptions

KDL::Error_MotionPlanning

in case start and goal have different radii to the center point.

Definition at line 22 of file path_circle_generator.cpp.

std::unique_ptr< KDL::Path > pilz::PathCircleGenerator::circleFromInterim ( const KDL::Frame &  start_pose, const KDL::Frame &  goal_pose, const KDL::Vector &  interim_point, double  eqradius  )

static

set circle from start, goal and interim point

Exceptions

KDL::Error_MotionPlanning

if the given points are colinear.

Definition at line 64 of file path_circle_generator.cpp.

double pilz::PathCircleGenerator::cosines ( const double  a, const double  b, const double  c  )

staticprivate

law of cosines: returns angle gamma in c² = a²+b²-2ab cos(gamma)

Returns

angle in radians

Definition at line 132 of file path_circle_generator.cpp.

Member Data Documentation

constexpr double pilz::PathCircleGenerator::MAX_COLINEAR_NORM {1e-5}

staticprivate

Definition at line 68 of file path_circle_generator.h.

constexpr double pilz::PathCircleGenerator::MAX_RADIUS_DIFF {1e-2}

staticprivate

Definition at line 67 of file path_circle_generator.h.

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

• path_circle_generator.h
• path_circle_generator.cpp