KDL
1.4.0
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A Path representing a closed circular movement, which is traversed a number of times. More...
#include <src/path_cyclic_closed.hpp>
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 | |
Path_Cyclic_Closed (Path *_geom, int _times, bool _aggregate=true) | |
virtual double | LengthToS (double length) |
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc. More... | |
virtual double | 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. More... | |
virtual Frame | Pos (double s) const |
Returns the Frame at the current path length s. More... | |
virtual Twist | Vel (double s, double sd) const |
Returns the velocity twist at path length s theta and with derivative of s == sd. More... | |
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 s == sdd. More... | |
virtual void | Write (std::ostream &os) |
Writes one of the derived objects to the stream. More... | |
virtual Path * | Clone () |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object. More... | |
virtual IdentifierType | getIdentifier () const |
gets an identifier indicating the type of this Path object More... | |
virtual | ~Path_Cyclic_Closed () |
Static Public Member Functions | |
static Path * | Read (std::istream &is) |
Private Attributes | |
int | times |
Path * | geom |
bool | aggregate |
A Path representing a closed circular movement, which is traversed a number of times.
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inherited |
KDL::Path_Cyclic_Closed::Path_Cyclic_Closed | ( | Path * | _geom, |
int | _times, | ||
bool | _aggregate = true |
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Referenced by Clone().
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virtual |
References aggregate, and geom.
Referenced by getIdentifier().
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virtual |
Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd.
Implements KDL::Path.
References KDL::Path::Acc(), geom, and KDL::Path::PathLength().
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virtual |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Implements KDL::Path.
References aggregate, KDL::Path::Clone(), geom, Path_Cyclic_Closed(), and times.
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inlinevirtual |
gets an identifier indicating the type of this Path object
Implements KDL::Path.
References KDL::Path::ID_CYCLIC_CLOSED, and ~Path_Cyclic_Closed().
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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.
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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.
References geom, KDL::Path::PathLength(), and times.
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virtual |
Returns the Frame at the current path length s.
Implements KDL::Path.
References geom, KDL::Path::PathLength(), and KDL::Path::Pos().
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static |
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virtual |
Returns the velocity twist at path length s theta and with derivative of s == sd.
Implements KDL::Path.
References geom, KDL::Path::PathLength(), and KDL::Path::Vel().
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virtual |
Writes one of the derived objects to the stream.
Implements KDL::Path.
References geom, times, and KDL::Path::Write().
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private |
Referenced by Clone(), and ~Path_Cyclic_Closed().
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private |
Referenced by Acc(), Clone(), PathLength(), Pos(), Vel(), Write(), and ~Path_Cyclic_Closed().
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private |
Referenced by Clone(), PathLength(), and Write().