KDL::Path_RoundedComposite Class Reference
[Motion]

The specification of a path, composed of way-points with rounded corners. More...

#include <path_roundedcomposite.hpp>

Inheritance diagram for KDL::Path_RoundedComposite:

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.
void	Add (const Frame &F_base_point)
	Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle Can throw Error_MotionPlanning_Not_Feasible object.
virtual Path *	Clone ()
	virtual constructor, constructing by copying.
void	Finish ()
	to be called after the last line is added to finish up the work
virtual double	LengthToS (double length)
	LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc.
	Path_RoundedComposite (double radius, double _eqradius, RotationalInterpolation *_orient, 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_RoundedComposite ()

Detailed Description

The specification of a path, composed of way-points with rounded corners.

Definition at line 58 of file path_roundedcomposite.hpp.

Constructor & Destructor Documentation

KDL::Path_RoundedComposite::Path_RoundedComposite	(	double	radius,
		double	_eqradius,
		RotationalInterpolation *	_orient,
		bool	_aggregate = `true`
	)

Parameters:

	radius	: radius of the rounding circles
	_eqradius	: equivalent radius to compare rotations/velocities
	_orient	: method of rotational_interpolation interpolation
	_aggregate	: default True

Definition at line 52 of file path_roundedcomposite.cpp.

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

Definition at line 137 of file path_roundedcomposite.cpp.

Member Function Documentation

Twist KDL::Path_RoundedComposite::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 129 of file path_roundedcomposite.cpp.

References KDL::Path_Composite::Acc().

void KDL::Path_RoundedComposite::Add ( const Frame & F_base_point )

Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle Can throw Error_MotionPlanning_Not_Feasible object.

Definition at line 58 of file path_roundedcomposite.cpp.

References KDL::acos(), KDL::Path_Composite::Add(), KDL::RotationalInterpolation::Clone(), KDL::dot(), KDL::Frame::M, KDL::Vector::Norm(), KDL::Vector::Normalize(), KDL::Frame::p, KDL::PI, and KDL::tan().

Referenced by Robot::Trajectory::generateTrajectory().

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

virtual constructor, constructing by copying.

In this case it returns the Clone() of the aggregated Path_Composite because this is all one ever will need.

Implements KDL::Path.

Definition at line 144 of file path_roundedcomposite.cpp.

References KDL::Path_Composite::Clone().

void KDL::Path_RoundedComposite::Finish ( )

to be called after the last line is added to finish up the work

Definition at line 107 of file path_roundedcomposite.cpp.

References KDL::Path_Composite::Add(), and KDL::RotationalInterpolation::Clone().

Referenced by Robot::Trajectory::generateTrajectory().

double KDL::Path_RoundedComposite::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 113 of file path_roundedcomposite.cpp.

References KDL::Path_Composite::LengthToS().

double KDL::Path_RoundedComposite::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 117 of file path_roundedcomposite.cpp.

References KDL::Path_Composite::PathLength().

Referenced by Robot::Trajectory::generateTrajectory().

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

Returns the Frame at the current path length s.

Implements KDL::Path.

Definition at line 121 of file path_roundedcomposite.cpp.

References KDL::Path_Composite::Pos().