44 #ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H 45 #define KDL_MOTION_ROUNDEDCOMPOSITE_H 109 void Add(
const Frame& F_base_point);
138 virtual Twist Vel(
double s,
double sd)
const;
144 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
156 virtual void Write(std::ostream& os);
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_roundedcomposite.hpp:190
Path_Composite * comp
a Path_Composite is aggregated to hold the rounded trajectory with circles and lines ...
Definition: path_roundedcomposite.hpp:63
void Add(const Frame &F_base_point)
Adds a point to this rounded composite, between to adjecent points a Path_Line will be created...
Definition: path_roundedcomposite.cpp:69
virtual ~Path_RoundedComposite()
Definition: path_roundedcomposite.cpp:189
virtual Path * Clone()
virtual constructor, constructing by copying.
Definition: path_roundedcomposite.cpp:196
Frame F_base_start
Definition: path_roundedcomposite.hpp:70
The specification of the path of a trajectory.
Definition: path.hpp:58
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos...
Definition: path_roundedcomposite.cpp:145
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_roundedcomposite.cpp:150
double eqradius
Definition: path_roundedcomposite.hpp:67
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:62
double radius
Definition: path_roundedcomposite.hpp:66
represents both translational and rotational velocities.
Definition: frames.hpp:720
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_roundedcomposite.cpp:162
virtual int GetNrOfSegments()
returns the number of underlying segments.
Definition: path_roundedcomposite.cpp:170
The specification of a path, composed of way-points with rounded corners.
Definition: path_roundedcomposite.hpp:58
Definition: articulatedbodyinertia.cpp:28
virtual Path * GetSegment(int i)
returns a pointer to the underlying Path of the given segment number i.
Definition: path_roundedcomposite.cpp:174
Frame F_base_via
Definition: path_roundedcomposite.hpp:71
Path_RoundedComposite(Path_Composite *comp, double radius, double eqradius, RotationalInterpolation *orient, bool aggregate, int nrofpoints)
Definition: path_roundedcomposite.cpp:54
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_roundedcomposite.cpp:158
IdentifierType
Definition: path.hpp:61
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
Definition: path_roundedcomposite.cpp:182
int nrofpoints
Definition: path_roundedcomposite.hpp:73
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_roundedcomposite.cpp:166
A Path being the composition of other Path objects.
Definition: path_composite.hpp:69
represents a frame transformation in 3D space (rotation + translation)
Definition: frames.hpp:570
void Finish()
to be called after the last line is added to finish up the work
Definition: path_roundedcomposite.cpp:137
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_roundedcomposite.cpp:154
RotationalInterpolation * orient
Definition: path_roundedcomposite.hpp:68
bool aggregate
Definition: path_roundedcomposite.hpp:75
virtual double GetLengthToEndOfSegment(int i)
gets the length to the end of the given segment.
Definition: path_roundedcomposite.cpp:178