KDL
1.4.0
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The specification of a path, composed of way-points with rounded corners. More...
#include <src/path_roundedcomposite.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_RoundedComposite (double radius, double eqradius, RotationalInterpolation *orient, bool aggregate=true) | |
void | Add (const Frame &F_base_point) |
Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle. More... | |
void | Finish () |
to be called after the last line is added to finish up the work More... | |
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 Path * | Clone () |
virtual constructor, constructing by copying. More... | |
virtual void | Write (std::ostream &os) |
Writes one of the derived objects to the stream. More... | |
virtual int | GetNrOfSegments () |
returns the number of underlying segments. More... | |
virtual Path * | GetSegment (int i) |
returns a pointer to the underlying Path of the given segment number i. More... | |
virtual double | GetLengthToEndOfSegment (int i) |
gets the length to the end of the given segment. More... | |
virtual void | GetCurrentSegmentLocation (double s, int &segment_number, double &inner_s) |
virtual IdentifierType | getIdentifier () const |
gets an identifier indicating the type of this Path object More... | |
virtual | ~Path_RoundedComposite () |
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... | |
Private Member Functions | |
Path_RoundedComposite (Path_Composite *comp, double radius, double eqradius, RotationalInterpolation *orient, bool aggregate, int nrofpoints) | |
Private Attributes | |
Path_Composite * | comp |
a Path_Composite is aggregated to hold the rounded trajectory with circles and lines More... | |
double | radius |
double | eqradius |
RotationalInterpolation * | orient |
Frame | F_base_start |
Frame | F_base_via |
int | nrofpoints |
bool | aggregate |
The specification of a path, composed of way-points with rounded corners.
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inherited |
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private |
Referenced by Clone().
KDL::Path_RoundedComposite::Path_RoundedComposite | ( | double | radius, |
double | eqradius, | ||
RotationalInterpolation * | orient, | ||
bool | aggregate = true |
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radius | : radius of the rounding circles |
eqradius | : equivalent radius to compare rotations/velocities |
orient | : method of rotational_interpolation interpolation |
aggregate | : if true, this object will own the _orient pointer, i.e. it will delete the _orient pointer when the destructor of this object is called. |
References eqradius, and nrofpoints.
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virtual |
References aggregate, comp, and orient.
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_Composite::Acc(), and comp.
void KDL::Path_RoundedComposite::Add | ( | const Frame & | F_base_point | ) |
Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle.
The Error_MotionPlanning_Not_Feasible has a type (obtained by GetType) of:
F_base_point | the pose of a new via point. |
References KDL::Path_Composite::Add(), KDL::RotationalInterpolation::Clone(), comp, KDL::dot(), eqradius, F_base_start, F_base_via, KDL::Frame::M, KDL::Vector::Norm(), KDL::Vector::Normalize(), nrofpoints, orient, KDL::Frame::p, and radius.
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virtual |
virtual constructor, constructing by copying.
In this case it returns the Clone() of the aggregated Path_Composite because this is all one ever will need.
Implements KDL::Path.
References KDL::RotationalInterpolation::Clone(), KDL::Path_Composite::Clone(), comp, eqradius, nrofpoints, orient, Path_RoundedComposite(), and radius.
void KDL::Path_RoundedComposite::Finish | ( | ) |
to be called after the last line is added to finish up the work
References KDL::Path_Composite::Add(), KDL::RotationalInterpolation::Clone(), comp, eqradius, F_base_start, F_base_via, nrofpoints, and orient.
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virtual |
s | [INPUT] path length variable for the composite. |
segment_number | [OUTPUT] segments that corresponds to the path length variable s. |
inner_s | [OUTPUT] path length to use within the segment. |
References comp, and KDL::Path_Composite::GetCurrentSegmentLocation().
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inlinevirtual |
gets an identifier indicating the type of this Path object
Implements KDL::Path.
References KDL::Path::ID_ROUNDED_COMPOSITE, and ~Path_RoundedComposite().
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gets the length to the end of the given segment.
i | segment number |
References comp, and KDL::Path_Composite::GetLengthToEndOfSegment().
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returns the number of underlying segments.
References comp, and KDL::Path_Composite::GetNrOfSegments().
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returns a pointer to the underlying Path of the given segment number i.
i | segment number |
References comp, and KDL::Path_Composite::GetSegment().
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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.
References comp, and KDL::Path_Composite::LengthToS().
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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 comp, and KDL::Path_Composite::PathLength().
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virtual |
Returns the Frame at the current path length s.
Implements KDL::Path.
References comp, and KDL::Path_Composite::Pos().
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staticinherited |
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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Returns the velocity twist at path length s theta and with derivative of s == sd.
Implements KDL::Path.
References comp, and KDL::Path_Composite::Vel().
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Writes one of the derived objects to the stream.
Implements KDL::Path.
References comp, and KDL::Path_Composite::Write().
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private |
Referenced by ~Path_RoundedComposite().
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private |
a Path_Composite is aggregated to hold the rounded trajectory with circles and lines
Referenced by Acc(), Add(), Clone(), Finish(), GetCurrentSegmentLocation(), GetLengthToEndOfSegment(), GetNrOfSegments(), GetSegment(), LengthToS(), PathLength(), Pos(), Vel(), Write(), and ~Path_RoundedComposite().
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Referenced by Add(), Clone(), Finish(), and Path_RoundedComposite().
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Referenced by Add(), Clone(), Finish(), and Path_RoundedComposite().
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Referenced by Add(), Clone(), Finish(), and ~Path_RoundedComposite().