KDL::Path Class Reference

The specification of the path of a trajectory. More...

#include <path.hpp>

Inheritance diagram for KDL::Path:

Public Member Functions
virtual Twist	Acc (double s, double sd, double sdd) const =0
	Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd.
virtual Path *	Clone ()=0
	Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
virtual double	LengthToS (double length)=0
	LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc.
virtual double	PathLength ()=0
	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 =0
	Returns the Frame at the current path length s.
virtual Twist	Vel (double s, double sd) const =0
	Returns the velocity twist at path length s theta and with derivative of s == sd.
virtual void	Write (std::ostream &os)=0
	Writes one of the derived objects to the stream.
virtual	~Path ()
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

The specification of the path of a trajectory.

Definition at line 58 of file path.hpp.

Constructor & Destructor Documentation

virtual KDL::Path::~Path ( ) [inline, virtual]

Definition at line 118 of file path.hpp.

Member Function Documentation

virtual Twist KDL::Path::Acc	(	double	s,
		double	sd,
		double	sdd
	)			const `[pure virtual]`

Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd.

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

Referenced by KDL::Trajectory_Segment::Acc(), and KDL::Path_Cyclic_Closed::Acc().

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

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

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

Referenced by KDL::Trajectory_Segment::Clone(), and KDL::Path_Cyclic_Closed::Clone().

virtual double KDL::Path::PathLength ( ) [pure 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.

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

Referenced by KDL::Path_Cyclic_Closed::Acc(), KDL::Path_Composite::Add(), Robot::Trajectory::generateTrajectory(), KDL::Path_Cyclic_Closed::PathLength(), KDL::Path_Cyclic_Closed::Pos(), KDL::Trajectory_Segment::Trajectory_Segment(), and KDL::Path_Cyclic_Closed::Vel().

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

Returns the Frame at the current path length s.

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

Referenced by KDL::Trajectory_Segment::Pos(), and KDL::Path_Cyclic_Closed::Pos().

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

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

Reimplemented in KDL::Path_Cyclic_Closed.

Definition at line 61 of file path.cpp.

References KDL::deg2rad, KDL::Eat(), KDL::EatEnd(), KDL::EatWord(), SketcherExample::f, KDL::IOTrace(), KDL::IOTracePop(), and KDL::RotationalInterpolation::Read().

Referenced by KDL::Trajectory::Read().