KDL::Path_Circle Class Reference

`#include <path_circle.hpp>`

Inheritance diagram for KDL::Path_Circle:

## Public Member Functions | |

virtual Twist | Acc (double s, double sd, double sdd) const |

virtual Path * | Clone () |

virtual IdentifierType | getIdentifier () const |

double | LengthToS (double length) |

Path_Circle (const Frame &F_base_start, const Vector &V_base_center, const Vector &V_base_p, const Rotation &R_base_end, double alpha, RotationalInterpolation *otraj, double eqradius, 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_Circle () |

## Private Attributes | |

bool | aggregate |

double | eqradius |

Frame | F_base_center |

RotationalInterpolation * | orient |

double | pathlength |

double | radius |

double | scalelin |

double | scalerot |

A circular Path with 'open ends'. Path_Arc would have been a better name though.

Definition at line 60 of file path_circle.hpp.

KDL::Path_Circle::Path_Circle | ( | const Frame & | F_base_start, |

const Vector & | V_base_center, |
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const Vector & | V_base_p, |
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const Rotation & | R_base_end, |
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double | alpha, |
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RotationalInterpolation * | otraj, |
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double | eqradius, |
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bool | _aggregate = `true` |
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) |

CAN THROW Error_MotionPlanning_Circle_ToSmall CAN THROW Error_MotionPlanning_Circle_No_Plane

Definition at line 50 of file path_circle.cpp.

KDL::Path_Circle::~Path_Circle | ( | ) | ` [virtual]` |

Definition at line 148 of file path_circle.cpp.

Twist KDL::Path_Circle::Acc | ( | double | s, |

double | sd, |
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double | sdd |
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) | 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 120 of file path_circle.cpp.

Path * KDL::Path_Circle::Clone | ( | ) | ` [virtual]` |

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

Implements KDL::Path.

Definition at line 135 of file path_circle.cpp.

virtual IdentifierType KDL::Path_Circle::getIdentifier | ( | ) | const` [inline, virtual]` |

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 107 of file path_circle.hpp.

double KDL::Path_Circle::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 95 of file path_circle.cpp.

double KDL::Path_Circle::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 100 of file path_circle.cpp.

Frame KDL::Path_Circle::Pos | ( | double | s | ) | const` [virtual]` |

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 104 of file path_circle.cpp.

Twist KDL::Path_Circle::Vel | ( | double | s, |

double | sd |
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) | const` [virtual]` |

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

Implements KDL::Path.

Definition at line 112 of file path_circle.cpp.

void KDL::Path_Circle::Write | ( | std::ostream & | os | ) | ` [virtual]` |

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 155 of file path_circle.cpp.

bool KDL::Path_Circle::aggregate` [private]` |

Definition at line 78 of file path_circle.hpp.

double KDL::Path_Circle::eqradius` [private]` |

Definition at line 71 of file path_circle.hpp.

Frame KDL::Path_Circle::F_base_center` [private]` |

Definition at line 68 of file path_circle.hpp.

RotationalInterpolation* KDL::Path_Circle::orient` [private]` |

Definition at line 64 of file path_circle.hpp.

double KDL::Path_Circle::pathlength` [private]` |

Definition at line 74 of file path_circle.hpp.

double KDL::Path_Circle::radius` [private]` |

Definition at line 67 of file path_circle.hpp.

double KDL::Path_Circle::scalelin` [private]` |

Definition at line 75 of file path_circle.hpp.

double KDL::Path_Circle::scalerot` [private]` |

Definition at line 76 of file path_circle.hpp.

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