KDL::Path_Cyclic_Closed Class Reference
[Motion]

A Path representing a closed circular movement, which is traversed a number of times. More...

#include <path_cyclic_closed.hpp>

Inheritance diagram for KDL::Path_Cyclic_Closed:

Public Member Functions
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 Path *	Clone ()
	Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
virtual double	LengthToS (double length)
	LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc.
	Path_Cyclic_Closed (Path *_geom, int _times, bool _aggregate=true)
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 void	Write (std::ostream &os)
	Writes one of the derived objects to the stream.
virtual	~Path_Cyclic_Closed ()
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).

Detailed Description

A Path representing a closed circular movement, which is traversed a number of times.

Definition at line 60 of file path_cyclic_closed.hpp.

Constructor & Destructor Documentation

KDL::Path_Cyclic_Closed::Path_Cyclic_Closed	(	Path *	_geom,
		int	_times,
		bool	_aggregate = `true`
	)

Definition at line 48 of file path_cyclic_closed.cpp.

Referenced by Clone().

KDL::Path_Cyclic_Closed::~Path_Cyclic_Closed ( ) [virtual]

Definition at line 73 of file path_cyclic_closed.cpp.

Member Function Documentation

Twist KDL::Path_Cyclic_Closed::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.

Definition at line 68 of file path_cyclic_closed.cpp.

References KDL::Path::Acc(), Base::fmod(), and KDL::Path::PathLength().

Path * KDL::Path_Cyclic_Closed::Clone ( ) [virtual]

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

Implements KDL::Path.

Definition at line 78 of file path_cyclic_closed.cpp.

References KDL::Path::Clone(), and Path_Cyclic_Closed().

double KDL::Path_Cyclic_Closed::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.

Definition at line 51 of file path_cyclic_closed.cpp.

double KDL::Path_Cyclic_Closed::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.

Definition at line 56 of file path_cyclic_closed.cpp.

References KDL::Path::PathLength().

Frame KDL::Path_Cyclic_Closed::Pos ( double s ) const [virtual]

Returns the Frame at the current path length s.

Implements KDL::Path.

Definition at line 60 of file path_cyclic_closed.cpp.

References Base::fmod(), KDL::Path::PathLength(), and KDL::Path::Pos().

static Path* KDL::Path_Cyclic_Closed::Read ( std::istream & is ) [static]

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

Reimplemented from KDL::Path.