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

#include <path_point.hpp>

Inheritance diagram for KDL::Path_Point:
Inheritance graph

Public Member Functions

virtual Twist Acc (double s, double sd, double sdd) const
virtual PathClone ()
virtual IdentifierType getIdentifier () const
double LengthToS (double length)
 Path_Point (const Frame &F_base_start)
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_Point ()
- Public Member Functions inherited from KDL::Path
virtual ~Path ()

Private Attributes

Frame F_base_start

Additional Inherited Members

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

Detailed Description

A Path consisting only of a point in space.

Definition at line 61 of file path_point.hpp.

Constructor & Destructor Documentation

◆ Path_Point()

KDL::Path_Point::Path_Point ( const Frame F_base_start)

Constructs a Point Path

Definition at line 47 of file path_point.cpp.

◆ ~Path_Point()

KDL::Path_Point::~Path_Point ( )

Definition at line 70 of file path_point.cpp.

Member Function Documentation

◆ Acc()

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

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 66 of file path_point.cpp.

◆ Clone()

Path * KDL::Path_Point::Clone ( )

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

Implements KDL::Path.

Definition at line 73 of file path_point.cpp.

◆ getIdentifier()

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

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 80 of file path_point.hpp.

◆ LengthToS()

double KDL::Path_Point::LengthToS ( double  length)

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 52 of file path_point.cpp.

◆ PathLength()

double KDL::Path_Point::PathLength ( )

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 55 of file path_point.cpp.

◆ Pos()

Frame KDL::Path_Point::Pos ( double  s) const

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 58 of file path_point.cpp.

◆ Vel()

Twist KDL::Path_Point::Vel ( double  s,
double  sd 
) const

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

Implements KDL::Path.

Definition at line 62 of file path_point.cpp.

◆ Write()

void KDL::Path_Point::Write ( std::ostream &  os)

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 77 of file path_point.cpp.

Member Data Documentation

◆ F_base_start

Frame KDL::Path_Point::F_base_start

Definition at line 63 of file path_point.hpp.

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

autogenerated on Mon Jul 19 2021 12:45:50