#include <path_roundedcomposite.hpp>

Inheritance diagram for KDL::Path_RoundedComposite:

Public Member Functions
	Path_RoundedComposite (double radius, double eqradius, RotationalInterpolation *orient, bool aggregate=true)
void	Add (const Frame &F_base_point)
void	Finish ()
virtual 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 int	GetNrOfSegments ()
virtual Path *	GetSegment (int i)
virtual double	GetLengthToEndOfSegment (int i)
virtual void	GetCurrentSegmentLocation (double s, int &segment_number, double &inner_s)
virtual IdentifierType	getIdentifier () const
virtual	~Path_RoundedComposite ()
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

The specification of a path, composed of way-points with rounded corners.

Constructor & Destructor Documentation

◆ Path_RoundedComposite()

KDL::Path_RoundedComposite::Path_RoundedComposite	(	double	radius,
		double	eqradius,
		RotationalInterpolation *	orient,
		bool	aggregate = true )

Parameters

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.

◆ ~Path_RoundedComposite()

virtual KDL::Path_RoundedComposite::~Path_RoundedComposite ( )

virtual

Member Function Documentation

◆ Acc()

virtual Twist KDL::Path_RoundedComposite::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.

◆ Add()

void KDL::Path_RoundedComposite::Add ( const Frame & F_base_point )

Adds a point to this rounded composite, between two adjacent 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:

3101 if the eq. radius <= 0
3102 if the first segment in a rounding has zero length.
3103 if the second segment in a rounding has zero length.
3104 if the angle between the first and the second segment is close to PI. (meaning that the segments are on top of each other)
3105 if the distance needed for the rounding is larger then the first segment.
3106 if the distance needed for the rounding is larger then the second segment.

Parameters

F_base_point the pose of a new via point.

Warning: Can throw Error_MotionPlanning_Not_Feasible object @TODO handle the case of error type 3105 and 3106 by skipping segments, such that the class could be applied with points that are very close to each other.

◆ Clone()

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

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.

◆ Finish()

void KDL::Path_RoundedComposite::Finish ( )

to be called after the last line is added to finish up the work

◆ GetCurrentSegmentLocation()

virtual void KDL::Path_RoundedComposite::GetCurrentSegmentLocation	(	double	s,
		int &	segment_number,
		double &	inner_s )

virtual

Parameters

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.

◆ getIdentifier()

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

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

◆ GetLengthToEndOfSegment()

virtual double KDL::Path_RoundedComposite::GetLengthToEndOfSegment ( int i )

virtual

gets the length to the end of the given segment.

Parameters

i	segment number

Returns: length to the end of the segment, i.e. the value for s corresponding to the end of this segment.

◆ GetNrOfSegments()

virtual int KDL::Path_RoundedComposite::GetNrOfSegments ( )

virtual

returns the number of underlying segments.

◆ GetSegment()

virtual Path * KDL::Path_RoundedComposite::GetSegment ( int i )

virtual

returns a pointer to the underlying Path of the given segment number i.

Parameters

i	segment number

Returns: pointer to the underlying Path

Warning: The pointer is still owned by this class and is lifetime depends on the lifetime of this class.

◆ LengthToS()

virtual double KDL::Path_RoundedComposite::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_RoundedComposite::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_RoundedComposite::Pos ( double s ) const

virtual

Returns the Frame at the current path length s

Implements KDL::Path.

◆ Vel()

virtual Twist KDL::Path_RoundedComposite::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_RoundedComposite::Write ( std::ostream & os )

virtual

Writes one of the derived objects to the stream

Implements KDL::Path.

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

build/orocos_kdl_install/include/kdl/path_roundedcomposite.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Path_RoundedComposite()

◆ ~Path_RoundedComposite()

Member Function Documentation

◆ Acc()

◆ Add()

◆ Clone()

◆ Finish()

◆ GetCurrentSegmentLocation()

◆ getIdentifier()

◆ GetLengthToEndOfSegment()

◆ GetNrOfSegments()

◆ GetSegment()

◆ LengthToS()

◆ PathLength()

◆ Pos()

◆ Vel()

◆ Write()