KDL::Path_Point Class Reference
[Motion]
A Path consisting only of a point in space. More...
#include <path_point.hpp>
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. | |
| double | LengthToS (double length) |
| LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc. | |
| Path_Point (const Frame &F_base_start) | |
| Constructs a Point Path. | |
| 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_Point () |
Detailed Description
A Path consisting only of a point in space.
Definition at line 61 of file path_point.hpp.
Constructor & Destructor Documentation
| KDL::Path_Point::Path_Point | ( | const Frame & | F_base_start | ) |
| KDL::Path_Point::~Path_Point | ( | ) | [virtual] |
Definition at line 70 of file path_point.cpp.
Member Function Documentation
| Twist KDL::Path_Point::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 66 of file path_point.cpp.
References KDL::Twist::Zero().
| Path * KDL::Path_Point::Clone | ( | ) | [virtual] |
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Implements KDL::Path.
Definition at line 73 of file path_point.cpp.
References Path_Point().
| double KDL::Path_Point::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 52 of file path_point.cpp.
| double KDL::Path_Point::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 55 of file path_point.cpp.
| Frame KDL::Path_Point::Pos | ( | double | s | ) | const [virtual] |
Returns the Frame at the current path length s.
Implements KDL::Path.
Definition at line 58 of file path_point.cpp.
| Twist KDL::Path_Point::Vel | ( | double | s, | |
| double | sd | |||
| ) | const [virtual] |
Returns the velocity twist at path length s theta and with derivative of s == sd.
Implements KDL::Path.
Definition at line 62 of file path_point.cpp.
References KDL::Twist::Zero().
| void KDL::Path_Point::Write | ( | std::ostream & | os | ) | [virtual] |
Writes one of the derived objects to the stream.
Implements KDL::Path.
Definition at line 77 of file path_point.cpp.
The documentation for this class was generated from the following files:
