KDL::Path_Circle Class Reference

#include <path_circle.hpp>

Inheritance diagram for KDL::Path_Circle:

Public Member Functions
	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)
double	LengthToS (double length)
virtual double	PathLength ()
virtual Frame	Pos (double s) const
virtual Twist	Vel (double s, double sd) const
virtual Twist	Acc (double s, double sd, double sdd) const
virtual Path *	Clone ()
virtual void	Write (std::ostream &os)
virtual IdentifierType	getIdentifier () const
virtual	~Path_Circle ()
Public Member Functions inherited from KDL::Path
virtual	~Path ()

Additional Inherited Members
Public Types inherited from KDL::Path
enum	IdentifierType {   ID_LINE =1 , ID_CIRCLE =2 , ID_COMPOSITE =3 , ID_ROUNDED_COMPOSITE =4 ,   ID_POINT =5 , ID_CYCLIC_CLOSED =6 }
Static Public Member Functions inherited from KDL::Path
static Path *	Read (std::istream &is)

Detailed Description

A circular Path with 'open ends'. Path_Arc would have been a better name though.

Constructor & Destructor Documentation

Path_Circle()

KDL::Path_Circle::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

~Path_Circle()

virtual KDL::Path_Circle::~Path_Circle ( )

virtual

Member Function Documentation

Acc()

virtual Twist KDL::Path_Circle::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.

Clone()

virtual Path * KDL::Path_Circle::Clone ( )

virtual

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

Implements KDL::Path.

getIdentifier()

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

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

LengthToS()

double KDL::Path_Circle::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()

virtual double KDL::Path_Circle::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.

Pos()

virtual Frame KDL::Path_Circle::Pos ( double s ) const

virtual

Returns the Frame at the current path length s

Implements KDL::Path.

Vel()

virtual Twist KDL::Path_Circle::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.

Write()

virtual void KDL::Path_Circle::Write ( std::ostream & os )

virtual

Writes one of the derived objects to the stream

Implements KDL::Path.

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

• build/orocos_kdl_install/include/kdl/path_circle.hpp