KDL
1.4.0
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The specification of the path of a trajectory. More...
#include <src/path.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 | |
virtual double | LengthToS (double length)=0 |
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc. More... | |
virtual double | PathLength ()=0 |
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 =0 |
Returns the Frame at the current path length s. More... | |
virtual Twist | Vel (double s, double sd) const =0 |
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 =0 |
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)=0 |
Writes one of the derived objects to the stream. More... | |
virtual Path * | Clone ()=0 |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object. More... | |
virtual IdentifierType | getIdentifier () const =0 |
gets an identifier indicating the type of this Path object More... | |
virtual | ~Path () |
Static Public Member Functions | |
static Path * | Read (std::istream &is) |
Reads one of the derived objects from the stream and returns a pointer (factory method) More... | |
The specification of the path of a trajectory.
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inlinevirtual |
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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_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.
Referenced by KDL::Path_Cyclic_Closed::Acc(), and KDL::Trajectory_Segment::Acc().
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pure virtual |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Cyclic_Closed, and KDL::Path_Point.
Referenced by KDL::Path_Cyclic_Closed::Clone(), and KDL::Trajectory_Segment::Clone().
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pure virtual |
gets an identifier indicating the type of this Path object
Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.
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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_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.
Referenced by KDL::Path_Cyclic_Closed::Acc(), KDL::Path_Composite::Add(), KDL::Path_Cyclic_Closed::PathLength(), KDL::Path_Cyclic_Closed::Pos(), KDL::Trajectory_Segment::Trajectory_Segment(), and KDL::Path_Cyclic_Closed::Vel().
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pure virtual |
Returns the Frame at the current path length s.
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.
Referenced by KDL::Path_Cyclic_Closed::Pos(), and KDL::Trajectory_Segment::Pos().
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static |
Reads one of the derived objects from the stream and returns a pointer (factory method)
References KDL::RotationalInterpolation::Read().
Referenced by KDL::Trajectory::Read().
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pure virtual |
Returns the velocity twist at path length s theta and with derivative of s == sd.
Implemented in KDL::Path_RoundedComposite, KDL::Path_Line, KDL::Path_Composite, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.
Referenced by KDL::Path_Cyclic_Closed::Vel(), and KDL::Trajectory_Segment::Vel().
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pure virtual |
Writes one of the derived objects to the stream.
Implemented in KDL::Path_RoundedComposite, KDL::Path_Composite, KDL::Path_Line, KDL::Path_Circle, KDL::Path_Point, and KDL::Path_Cyclic_Closed.
Referenced by KDL::Path_Cyclic_Closed::Write(), and KDL::Trajectory_Segment::Write().