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KDL::Path Class Reference

#include <path.hpp>

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

List of all members.

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 PathClone ()=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 PathRead (std::istream &is)

Detailed Description

The specification of the path of a trajectory.

Definition at line 58 of file path.hpp.


Member Enumeration Documentation

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 (  )  [inline, virtual]

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_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

virtual Path* KDL::Path::Clone (  )  [pure virtual]

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

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

virtual IdentifierType KDL::Path::getIdentifier (  )  const [pure virtual]

gets an identifier indicating the type of this Path object

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

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_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

virtual Frame KDL::Path::Pos ( double  s  )  const [pure virtual]
static Path* KDL::Path::Read ( std::istream &  is  )  [static]

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

Reimplemented in KDL::Path_Cyclic_Closed.

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_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

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

Writes one of the derived objects to the stream

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


The documentation for this class was generated from the following file:
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orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013