KDL::Path_Point Class Reference

A Path consisting only of a point in space. More...

#include <src/path_point.hpp>

Inheritance diagram for KDL::Path_Point:

Collaboration diagram for KDL::Path_Point:

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_Point (const Frame &F_base_start)
	Constructs a Point Path.
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_Point ()

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)

Private Attributes
Frame	F_base_start

Detailed Description

A Path consisting only of a point in space.

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_Point()

KDL::Path_Point::Path_Point

(

const Frame &

F_base_start

)

Constructs a Point Path.

~Path_Point()

KDL::Path_Point::~Path_Point ( )

virtual

Member Function Documentation

Acc()

Twist KDL::Path_Point::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 KDL::Twist::Zero().

Clone()

Path * KDL::Path_Point::Clone ( )

virtual

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

Implements KDL::Path.

References F_base_start.

getIdentifier()

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

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

References KDL::Path::ID_POINT.

LengthToS()

double KDL::Path_Point::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_Point::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()

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

virtual

Returns the Frame at the current path length s.

Implements KDL::Path.

References F_base_start.

Read()

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

staticinherited

Reads one of the derived objects from the stream and returns a pointer (factory method)

References KDL::Path::Read(), and KDL::RotationalInterpolation::Read().

Referenced by KDL::Path::Read(), and KDL::Trajectory::Read().

Vel()

Twist KDL::Path_Point::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 KDL::Twist::Zero().

Write()

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

virtual

Writes one of the derived objects to the stream.

Implements KDL::Path.

References F_base_start.

Member Data Documentation

F_base_start

Frame KDL::Path_Point::F_base_start

private

Referenced by Clone(), Pos(), and Write().

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

• src/path_point.hpp
• src/path_point.cpp