KDL::Path_Cyclic_Closed Class Reference

A Path representing a closed circular movement, which is traversed a number of times. More...

#include <src/path_cyclic_closed.hpp>

Inheritance diagram for KDL::Path_Cyclic_Closed:

Collaboration diagram for KDL::Path_Cyclic_Closed:

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.
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.
virtual Frame	Pos (double s) const
	Returns the Frame at the current path length s.
virtual Twist	Vel (double s, double sd) const
	Returns the velocity twist at path length s theta and with derivative of s == sd.
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.
virtual void	Write (std::ostream &os)
	Writes one of the derived objects to the stream.
virtual Path *	Clone ()
	Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
virtual IdentifierType	getIdentifier () const
	gets an identifier indicating the type of this Path object
virtual	~Path_Cyclic_Closed ()

Static Public Member Functions
static Path *	Read (std::istream &is)

Private Attributes
int	times
Path *	geom
bool	aggregate

Detailed Description

A Path representing a closed circular movement, which is traversed a number of times.

Member Enumeration Documentation

IdentifierType

enum KDL::Path::IdentifierType

inherited

Enumerator
ID_LINE
ID_CIRCLE
ID_COMPOSITE
ID_ROUNDED_COMPOSITE
ID_POINT
ID_CYCLIC_CLOSED

Constructor & Destructor Documentation

Path_Cyclic_Closed()

KDL::Path_Cyclic_Closed::Path_Cyclic_Closed	(	Path *	_geom,
		int	_times,
		bool	_aggregate = true )

References aggregate, geom, and times.

Referenced by Clone().

~Path_Cyclic_Closed()

KDL::Path_Cyclic_Closed::~Path_Cyclic_Closed ( )

virtual

References aggregate, and geom.

Member Function Documentation

Acc()

Twist KDL::Path_Cyclic_Closed::Acc ( double s, double sd, double sdd ) const

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 geom.

Clone()

Path * KDL::Path_Cyclic_Closed::Clone ( )

virtual

Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.

Implements KDL::Path.

References aggregate, geom, Path_Cyclic_Closed(), and times.

getIdentifier()

virtual IdentifierType KDL::Path_Cyclic_Closed::getIdentifier ( ) const

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

References KDL::Path::ID_CYCLIC_CLOSED.

LengthToS()

double KDL::Path_Cyclic_Closed::LengthToS ( double length )

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.

PathLength()

double KDL::Path_Cyclic_Closed::PathLength ( )

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, and times.

Pos()

Frame KDL::Path_Cyclic_Closed::Pos ( double s ) const

virtual

Returns the Frame at the current path length s.

Implements KDL::Path.

References geom.

Read()

static Path * KDL::Path_Cyclic_Closed::Read ( std::istream & is )

static

Vel()

Twist KDL::Path_Cyclic_Closed::Vel ( double s, double sd ) const

virtual

Returns the velocity twist at path length s theta and with derivative of s == sd.

Implements KDL::Path.

References geom.

Write()

void KDL::Path_Cyclic_Closed::Write ( std::ostream & os )

virtual

Writes one of the derived objects to the stream.

Implements KDL::Path.

References geom, and times.

Member Data Documentation

aggregate

bool KDL::Path_Cyclic_Closed::aggregate

private

Referenced by Clone(), Path_Cyclic_Closed(), and ~Path_Cyclic_Closed().

geom

Path* KDL::Path_Cyclic_Closed::geom

private

Referenced by Acc(), Clone(), Path_Cyclic_Closed(), PathLength(), Pos(), Vel(), Write(), and ~Path_Cyclic_Closed().

times

int KDL::Path_Cyclic_Closed::times

private

Referenced by Clone(), Path_Cyclic_Closed(), PathLength(), and Write().

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The documentation for this class was generated from the following files:

• src/path_cyclic_closed.hpp
• src/path_cyclic_closed.cpp