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45 #ifndef KDL_MOTION_PATHCIRCLE_H
46 #define KDL_MOTION_PATHCIRCLE_H
60 class Path_Circle :
public Path
64 RotationalInterpolation*
orient;
87 Path_Circle(
const Frame& F_base_start,
const Vector& V_base_center,
88 const Vector& V_base_p,
89 const Rotation& R_base_end,
91 RotationalInterpolation* otraj,
93 bool _aggregate=
true);
98 virtual Frame
Pos(
double s)
const;
100 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
102 virtual void Write(std::ostream& os);
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_circle.cpp:193
virtual Vector Vel(double theta, double thetad) const =0
Returns the rotational velocity at angle theta and with derivative of theta == thetad.
Vector p
origine of the Frame
Definition: frames.hpp:572
Frame F_base_center
Definition: path_circle.hpp:146
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:150
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:158
Definition: articulatedbodyinertia.cpp:28
virtual ~Path_Circle()
Definition: path_circle.cpp:186
bool aggregate
Definition: path_circle.hpp:156
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual void Write(std::ostream &os) const =0
Writes one of the derived objects to the stream.
RotationalInterpolation * orient
Definition: path_circle.hpp:142
IdentifierType
Definition: path.hpp:137
virtual Vector Acc(double theta, double thetad, double thetadd) const =0
Returns the rotational acceleration at angle theta and with derivative of theta == thetad,...
double pathlength
Definition: path_circle.hpp:152
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_circle.cpp:138
double radius
Definition: path_circle.hpp:145
Vector UnitY() const
Access to the underlying unitvectors of the rotation matrix.
Definition: frames.hpp:522
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_circle.hpp:185
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
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:88
virtual RotationalInterpolation * Clone() const =0
virtual constructor, construction by copying .
double eqradius
Definition: path_circle.hpp:149
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_circle.cpp:173
The specification of the path of a trajectory.
Definition: path.hpp:96
double scalerot
Definition: path_circle.hpp:154
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_circle.cpp:133
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_circle.cpp:142
@ ID_CIRCLE
Definition: path.hpp:177
virtual Rotation Pos(double theta) const =0
Returns the rotation matrix at angle theta.
double scalelin
Definition: path_circle.hpp:153