KDL::Path Class Reference

#include <path.hpp>

Inheritance diagram for KDL::Path:

Public Types
enum	IdentifierType {   ID_LINE =1, ID_CIRCLE =2, ID_COMPOSITE =3, ID_ROUNDED_COMPOSITE =4,   ID_POINT =5, ID_CYCLIC_CLOSED =6 }

Public Member Functions
virtual Twist	Acc (double s, double sd, double sdd) const =0
virtual Path *	Clone ()=0
virtual IdentifierType	getIdentifier () const =0
virtual double	LengthToS (double length)=0
virtual double	PathLength ()=0
virtual Frame	Pos (double s) const =0
virtual Twist	Vel (double s, double sd) const =0
virtual void	Write (std::ostream &os)=0
virtual	~Path ()

Static Public Member Functions
static Path *	Read (std::istream &is)

Detailed Description

The specification of the path of a trajectory.

Definition at line 58 of file path.hpp.

Member Enumeration Documentation

enum KDL::Path::IdentifierType

Enumerator
ID_LINE
ID_CIRCLE
ID_COMPOSITE
ID_ROUNDED_COMPOSITE
ID_POINT
ID_CYCLIC_CLOSED

Definition at line 61 of file path.hpp.

Constructor & Destructor Documentation

virtual KDL::Path::~Path ( )

inlinevirtual

Definition at line 130 of file path.hpp.

Member Function Documentation

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

pure virtual

Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd

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

virtual Path* KDL::Path::Clone ( )

pure virtual

Virtual constructor, constructing by copying, Returns a deep copy of this Path Object

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

virtual IdentifierType KDL::Path::getIdentifier ( ) const

pure virtual

gets an identifier indicating the type of this Path object

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

virtual double KDL::Path::PathLength ( )

pure 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.

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

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

pure virtual

Returns the Frame at the current path length s

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

Path * KDL::Path::Read ( std::istream &  is )

static

Reads one of the derived objects from the stream and returns a pointer (factory method)

Definition at line 62 of file path.cpp.

virtual Twist KDL::Path::Vel ( double  s, double  sd  ) const

pure virtual

Returns the velocity twist at path length s theta and with derivative of s == sd

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

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

pure virtual

Writes one of the derived objects to the stream

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

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

• path.hpp
• path.cpp