45 #ifndef KDL_MOTION_PATHCIRCLE_H 46 #define KDL_MOTION_PATHCIRCLE_H 93 bool _aggregate=
true);
99 virtual Twist Vel(
double s,
double sd)
const;
100 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
102 virtual void Write(std::ostream& os);
bool aggregate
Definition: path_circle.hpp:78
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_circle.cpp:155
double pathlength
Definition: path_circle.hpp:74
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_circle.cpp:100
A circular Path with 'open ends'.
Definition: path_circle.hpp:60
The specification of the path of a trajectory.
Definition: path.hpp:58
virtual Twist Vel(double s, double sd) const
Returns the velocity twist at path length s theta and with derivative of s == sd. ...
Definition: path_circle.cpp:112
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos...
Definition: path_circle.cpp:95
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_circle.cpp:104
double scalelin
Definition: path_circle.hpp:75
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)
CAN THROW Error_MotionPlanning_Circle_ToSmall CAN THROW Error_MotionPlanning_Circle_No_Plane.
Definition: path_circle.cpp:50
double radius
Definition: path_circle.hpp:67
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:62
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_circle.cpp:135
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
RotationalInterpolation * orient
Definition: path_circle.hpp:64
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_circle.hpp:107
IdentifierType
Definition: path.hpp:61
virtual Twist 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...
Definition: path_circle.cpp:120
double eqradius
Definition: path_circle.hpp:71
virtual ~Path_Circle()
Definition: path_circle.cpp:148
double scalerot
Definition: path_circle.hpp:76
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
Frame F_base_center
Definition: path_circle.hpp:68