#include <path_composite.hpp>
Public Member Functions | |
| virtual Twist | Acc (double s, double sd, double sdd) const |
| void | Add (Path *geom, bool aggregate=true) |
| virtual Path * | Clone () |
| virtual void | GetCurrentSegmentLocation (double s, int &segment_number, double &inner_s) |
| virtual IdentifierType | getIdentifier () const |
| virtual double | GetLengthToEndOfSegment (int i) |
| virtual int | GetNrOfSegments () |
| virtual Path * | GetSegment (int i) |
| virtual double | LengthToS (double length) |
| Path_Composite () | |
| 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_Composite () |
 Public Member Functions inherited from KDL::Path | |
| virtual | ~Path () |
Private Types | |
| typedef std::vector< double > | DoubleVector |
| typedef std::vector< std::pair< Path *, bool > > | PathVector |
Private Member Functions | |
| double | Lookup (double s) const |
Private Attributes | |
| double | cached_ends |
| int | cached_index |
| double | cached_starts |
| DoubleVector | dv |
| PathVector | gv |
| double | pathlength |
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) |
Detailed Description
A Path being the composition of other Path objects.
For several of its methods, this class needs to lookup the segment corresponding to a value of the path variable s. To increase efficiency, this value is cached.
Currently a linear search is used to look up the segment. A binary search is more efficient. Can STL be used for this ? Increase the efficiency for caching for the common case of a fine grained monotonously increasing path variable s.
For all Path.., VelocityProfile.., Trajectory... check the bounds on the inputs with asserts.
explain this routine in the wiki.
Definition at line 69 of file path_composite.hpp.
Member Typedef Documentation
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private |
Definition at line 72 of file path_composite.hpp.
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private |
Definition at line 71 of file path_composite.hpp.
Constructor & Destructor Documentation
| KDL::Path_Composite::Path_Composite | ( | ) |
Definition at line 75 of file path_composite.cpp.
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virtual |
Definition at line 153 of file path_composite.cpp.
Member Function Documentation
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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 108 of file path_composite.cpp.
| void KDL::Path_Composite::Add | ( | Path * | geom, |
| bool | aggregate = true |
||
| ) |
Adds a Path* to this composite
Definition at line 82 of file path_composite.cpp.
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virtual |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object
Implements KDL::Path.
Definition at line 113 of file path_composite.cpp.
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virtual |
- Parameters
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s [INPUT] path length variable for the composite. segment_number [OUTPUT] segments that corresponds to the path length variable s. inner_s [OUTPUT] path length to use within the segment.
Definition at line 146 of file path_composite.cpp.
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inlinevirtual |
gets an identifier indicating the type of this Path object
Implements KDL::Path.
Definition at line 159 of file path_composite.hpp.
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virtual |
gets the length to the end of the given segment.
- Parameters
-
i segment number
- Returns
- length to the end of the segment, i.e. the value for s corresponding to the end of this segment.
Definition at line 140 of file path_composite.cpp.
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virtual |
returns the number of underlying segments.
Definition at line 130 of file path_composite.cpp.
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virtual |
returns a pointer to the underlying Path of the given segment number i.
- Parameters
-
i segment number
- Returns
- pointer to the underlying Path
- Warning
- The pointer is still owned by this class and is lifetime depends on the lifetime of this class.
Definition at line 134 of file path_composite.cpp.
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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 88 of file path_composite.cpp.
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private |
Definition at line 55 of file path_composite.cpp.
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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 93 of file path_composite.cpp.
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virtual |
Returns the Frame at the current path length s
Implements KDL::Path.
Definition at line 98 of file path_composite.cpp.
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virtual |
Returns the velocity twist at path length s theta and with derivative of s == sd
Implements KDL::Path.
Definition at line 103 of file path_composite.cpp.
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virtual |
Writes one of the derived objects to the stream
Implements KDL::Path.
Definition at line 121 of file path_composite.cpp.
Member Data Documentation
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mutableprivate |
Definition at line 80 of file path_composite.hpp.
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mutableprivate |
Definition at line 81 of file path_composite.hpp.
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mutableprivate |
Definition at line 79 of file path_composite.hpp.
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private |
Definition at line 75 of file path_composite.hpp.
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private |
Definition at line 74 of file path_composite.hpp.
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private |
Definition at line 76 of file path_composite.hpp.
The documentation for this class was generated from the following files: