A circular Path with 'open ends'.
More...
#include <src/path_circle.hpp>
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| 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. More...
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double | LengthToS (double length) |
| LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc. More...
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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. More...
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virtual Frame | Pos (double s) const |
| Returns the Frame at the current path length s. More...
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virtual Twist | Vel (double s, double sd) const |
| Returns the velocity twist at path length s theta and with derivative of s == sd. More...
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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. More...
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virtual Path * | Clone () |
| Virtual constructor, constructing by copying, Returns a deep copy of this Path Object. More...
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virtual void | Write (std::ostream &os) |
| Writes one of the derived objects to the stream. More...
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virtual IdentifierType | getIdentifier () const |
| gets an identifier indicating the type of this Path object More...
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virtual | ~Path_Circle () |
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static Path * | Read (std::istream &is) |
| Reads one of the derived objects from the stream and returns a pointer (factory method) More...
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A circular Path with 'open ends'.
Path_Arc would have been a better name though.
◆ IdentifierType
Enumerator |
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ID_LINE | |
ID_CIRCLE | |
ID_COMPOSITE | |
ID_ROUNDED_COMPOSITE | |
ID_POINT | |
ID_CYCLIC_CLOSED | |
◆ Path_Circle()
CAN THROW Error_MotionPlanning_Circle_ToSmall CAN THROW Error_MotionPlanning_Circle_No_Plane.
◆ ~Path_Circle()
KDL::Path_Circle::~Path_Circle |
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◆ Acc()
Twist KDL::Path_Circle::Acc |
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double |
s, |
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double |
sd, |
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double |
sdd |
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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()
Path * KDL::Path_Circle::Clone |
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Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Implements KDL::Path.
◆ getIdentifier()
gets an identifier indicating the type of this Path object
Implements KDL::Path.
◆ LengthToS()
double KDL::Path_Circle::LengthToS |
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double |
length | ) |
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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_Circle::PathLength |
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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_Circle::Pos |
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double |
s | ) |
const |
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◆ Read()
Path * KDL::Path::Read |
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std::istream & |
is | ) |
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staticinherited |
Reads one of the derived objects from the stream and returns a pointer (factory method)
◆ Vel()
Twist KDL::Path_Circle::Vel |
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double |
s, |
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double |
sd |
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virtual |
Returns the velocity twist at path length s theta and with derivative of s == sd.
Implements KDL::Path.
◆ Write()
void KDL::Path_Circle::Write |
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std::ostream & |
os | ) |
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virtual |
Writes one of the derived objects to the stream.
Implements KDL::Path.
◆ aggregate
bool KDL::Path_Circle::aggregate |
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private |
◆ eqradius
double KDL::Path_Circle::eqradius |
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◆ F_base_center
Frame KDL::Path_Circle::F_base_center |
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◆ orient
◆ pathlength
double KDL::Path_Circle::pathlength |
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◆ radius
double KDL::Path_Circle::radius |
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◆ scalelin
double KDL::Path_Circle::scalelin |
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◆ scalerot
double KDL::Path_Circle::scalerot |
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private |
The documentation for this class was generated from the following files: