A Path consisting only of a point in space.
More...
#include <src/path_point.hpp>
|
| Path_Point (const Frame &F_base_start) |
| Constructs a Point Path.
|
|
double | LengthToS (double length) |
| LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc.
|
|
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 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 void | Write (std::ostream &os) |
| Writes one of the derived objects to the stream.
|
|
virtual Path * | Clone () |
| Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
|
|
virtual IdentifierType | getIdentifier () const |
| gets an identifier indicating the type of this Path object
|
|
virtual | ~Path_Point () |
|
|
static Path * | Read (std::istream &is) |
| Reads one of the derived objects from the stream and returns a pointer (factory method)
|
|
A Path consisting only of a point in space.
◆ IdentifierType
Enumerator |
---|
ID_LINE | |
ID_CIRCLE | |
ID_COMPOSITE | |
ID_ROUNDED_COMPOSITE | |
ID_POINT | |
ID_CYCLIC_CLOSED | |
◆ Path_Point()
KDL::Path_Point::Path_Point |
( |
const Frame & | F_base_start | ) |
|
◆ ~Path_Point()
KDL::Path_Point::~Path_Point |
( |
| ) |
|
|
virtual |
◆ Acc()
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.
References KDL::Twist::Zero().
◆ Clone()
Path * KDL::Path_Point::Clone |
( |
| ) |
|
|
virtual |
◆ getIdentifier()
◆ LengthToS()
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.
◆ PathLength()
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.
◆ Pos()
Frame KDL::Path_Point::Pos |
( |
double | s | ) |
const |
|
virtual |
◆ Read()
Path * KDL::Path::Read |
( |
std::istream & | is | ) |
|
|
staticinherited |
◆ Vel()
Twist KDL::Path_Point::Vel |
( |
double | s, |
|
|
double | sd ) const |
|
virtual |
◆ Write()
void KDL::Path_Point::Write |
( |
std::ostream & | os | ) |
|
|
virtual |
◆ F_base_start
Frame KDL::Path_Point::F_base_start |
|
private |
The documentation for this class was generated from the following files: