Motion
[Kinematics and Dynamics Library]

All classes related to the non-instantaneous motion of rigid bodies and kinematic structures, e.g., path and trajecory definitions and their building blocks. More...

Classes
class	KDL::Path_Circle
	A circular Path with 'open ends'. More...
class	KDL::Path_Composite
	A Path being the composition of other Path objects. More...
class	KDL::Path_Cyclic_Closed
	A Path representing a closed circular movement, which is traversed a number of times. More...
class	KDL::Path_Line
	A path representing a line from A to B. More...
class	KDL::Path_Point
	A Path consisting only of a point in space. More...
class	KDL::Path_RoundedComposite
	The specification of a path, composed of way-points with rounded corners. More...
class	KDL::RotationalInterpolation
	RotationalInterpolation specifies the rotational part of a geometric trajectory The different derived objects specify different methods for interpolating rotations. More...
class	KDL::RotationalInterpolation_SingleAxis
	An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation. More...
class	KDL::Trajectory
	An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile. More...
class	KDL::Trajectory_Composite
	Trajectory_Composite implements a trajectory that is composed of underlying trajectoria. More...
class	KDL::Trajectory_Segment
	Trajectory_Segment combines a VelocityProfile and a Path into a trajectory. More...
class	KDL::Trajectory_Stationary
	Implements a "trajectory" of a stationary position for an amount of time. More...
class	KDL::VelocityProfile
	A VelocityProfile stores the velocity profile that is used within a trajectory. More...
class	KDL::VelocityProfile_Dirac
	A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. More...
class	KDL::VelocityProfile_Rectangular
	A rectangular VelocityProfile generates a constant velocity for moving from A to B. More...
class	KDL::VelocityProfile_Trap
	A Trapezoidal VelocityProfile implementation. More...
class	KDL::VelocityProfile_TrapHalf
	A 'Half' Trapezoidal VelocityProfile. More...
Functions
virtual double	KDL::Path::LengthToS (double length)=0
	LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc.

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Detailed Description

All classes related to the non-instantaneous motion of rigid bodies and kinematic structures, e.g., path and trajecory definitions and their building blocks.

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Function Documentation

virtual double KDL::Path::LengthToS

(

double

length

)

[pure virtual, inherited]

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.

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.