KDL::Path_Composite Class Reference
[Motion]

A Path being the composition of other Path objects. More...

#include <path_composite.hpp>

Inheritance diagram for KDL::Path_Composite:

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 (Path *geom, bool aggregate=true)
	Adds a Path* to this composite.
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_Composite ()
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_Composite ()

Detailed Description

A Path being the composition of other Path objects.

Definition at line 58 of file path_composite.hpp.

Constructor & Destructor Documentation

KDL::Path_Composite::Path_Composite ( )

Definition at line 73 of file path_composite.cpp.

Referenced by Clone().

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

Definition at line 127 of file path_composite.cpp.

Member Function Documentation

Twist KDL::Path_Composite::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 105 of file path_composite.cpp.

Referenced by KDL::Path_RoundedComposite::Acc().

void KDL::Path_Composite::Add	(	Path *	geom,
		bool	aggregate = `true`
	)

Adds a Path* to this composite.

Definition at line 80 of file path_composite.cpp.

References KDL::Path::PathLength().

Referenced by KDL::Trajectory_Composite::Add(), KDL::Path_RoundedComposite::Add(), and KDL::Path_RoundedComposite::Finish().

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

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

Implements KDL::Path.

Definition at line 110 of file path_composite.cpp.

References Path_Composite().

Referenced by KDL::Path_RoundedComposite::Clone().

double KDL::Path_Composite::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 86 of file path_composite.cpp.

Referenced by KDL::Path_RoundedComposite::LengthToS().

double KDL::Path_Composite::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 91 of file path_composite.cpp.

Referenced by KDL::Path_RoundedComposite::PathLength().

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

Returns the Frame at the current path length s.

Implements KDL::Path.

Definition at line 95 of file path_composite.cpp.

Referenced by KDL::Path_RoundedComposite::Pos().