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

#include <path_cyclic_closed.hpp>

Inheritance diagram for KDL::Path_Cyclic_Closed:
Inheritance graph
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Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const
 
virtual PathClone ()
 
virtual IdentifierType getIdentifier () const
 
virtual double LengthToS (double length)
 
 Path_Cyclic_Closed (Path *_geom, int _times, bool _aggregate=true)
 
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_Cyclic_Closed ()
 
- Public Member Functions inherited from KDL::Path
virtual ~Path ()
 

Static Public Member Functions

static PathRead (std::istream &is)
 
- Static Public Member Functions inherited from KDL::Path
static PathRead (std::istream &is)
 

Private Attributes

bool aggregate
 
Pathgeom
 
int times
 

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
}
 

Detailed Description

A Path representing a closed circular movement, which is traversed a number of times.

Definition at line 60 of file path_cyclic_closed.hpp.

Constructor & Destructor Documentation

◆ Path_Cyclic_Closed()

KDL::Path_Cyclic_Closed::Path_Cyclic_Closed ( Path _geom,
int  _times,
bool  _aggregate = true 
)

Definition at line 48 of file path_cyclic_closed.cpp.

◆ ~Path_Cyclic_Closed()

KDL::Path_Cyclic_Closed::~Path_Cyclic_Closed ( )
virtual

Definition at line 73 of file path_cyclic_closed.cpp.

Member Function Documentation

◆ Acc()

Twist KDL::Path_Cyclic_Closed::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 68 of file path_cyclic_closed.cpp.

◆ Clone()

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

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

Implements KDL::Path.

Definition at line 78 of file path_cyclic_closed.cpp.

◆ getIdentifier()

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

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 79 of file path_cyclic_closed.hpp.

◆ LengthToS()

double KDL::Path_Cyclic_Closed::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 51 of file path_cyclic_closed.cpp.

◆ PathLength()

double KDL::Path_Cyclic_Closed::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 56 of file path_cyclic_closed.cpp.

◆ Pos()

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

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 60 of file path_cyclic_closed.cpp.

◆ Read()

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

◆ Vel()

Twist KDL::Path_Cyclic_Closed::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 64 of file path_cyclic_closed.cpp.

◆ Write()

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

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 82 of file path_cyclic_closed.cpp.

Member Data Documentation

◆ aggregate

bool KDL::Path_Cyclic_Closed::aggregate
private

Definition at line 64 of file path_cyclic_closed.hpp.

◆ geom

Path* KDL::Path_Cyclic_Closed::geom
private

Definition at line 63 of file path_cyclic_closed.hpp.

◆ times

int KDL::Path_Cyclic_Closed::times
private

Definition at line 62 of file path_cyclic_closed.hpp.


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


orocos_kdl
Author(s):
autogenerated on Sat Jun 15 2019 19:18:32