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45 #ifndef KDL_MOTION_PATH_LINE_H
46 #define KDL_MOTION_PATH_LINE_H
59 class Path_Line :
public Path
62 RotationalInterpolation*
orient;
108 const Frame& F_base_end,
109 RotationalInterpolation*
orient,
111 bool _aggregate=
true);
113 const Twist& twist_in_base,
114 RotationalInterpolation*
orient,
116 bool _aggregate=
true);
119 virtual Frame
Pos(
double s)
const;
120 virtual Twist
Vel(
double s,
double sd)
const ;
121 virtual Twist
Acc(
double s,
double sd,
double sdd)
const;
122 virtual void Write(std::ostream& os);
123 virtual Path*
Clone();
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:101
Vector V_base_start
Definition: path_line.hpp:143
Vector rot
The rotational velocity of that point.
Definition: frames.hpp:723
virtual ~Path_Line()
Definition: path_line.cpp:186
double eqradius
Definition: path_line.hpp:147
virtual void SetStartEnd(Rotation start, Rotation end)=0
Set the start and end rotational_interpolation.
virtual Vector Vel(double theta, double thetad) const =0
Returns the rotational velocity at angle theta and with derivative of theta == thetad.
double scalerot
Definition: path_line.hpp:152
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_line.hpp:206
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...
Definition: path_line.cpp:181
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_line.cpp:191
double Normalize(double eps=epsilon)
Normalizes this vector and returns it norm makes v a unitvector and returns the norm of v.
Definition: frames.cpp:148
Vector V_base_end
Definition: path_line.hpp:144
Definition: articulatedbodyinertia.cpp:28
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_line.cpp:170
@ ID_LINE
Definition: path.hpp:176
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual void Write(std::ostream &os) const =0
Writes one of the derived objects to the stream.
bool aggregate
Definition: path_line.hpp:154
Definition: frames.hpp:570
IdentifierType
Definition: path.hpp:137
Path_Line(const Frame &F_base_start, const Frame &F_base_end, RotationalInterpolation *orient, double eqradius, bool _aggregate=true)
Definition: path_line.cpp:85
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_line.cpp:211
RotationalInterpolation * orient
Definition: path_line.hpp:140
virtual Vector Acc(double theta, double thetad, double thetadd) const =0
Returns the rotational acceleration at angle theta and with derivative of theta == thetad,...
Vector vel
The velocity of that point.
Definition: frames.hpp:722
double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_line.cpp:167
double Norm() const
Definition: frames.cpp:118
static Rotation Rot(const Vector &rotvec, double angle)
Along an arbitrary axes.
Definition: frames.cpp:294
virtual Twist Vel(double s, double sd) const
Returns the velocity twist at path length s theta and with derivative of s == sd.
Definition: path_line.cpp:177
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
double scalelin
Definition: path_line.hpp:151
Vector V_start_end
Definition: path_line.hpp:145
virtual RotationalInterpolation * Clone() const =0
virtual constructor, construction by copying .
double pathlength
Definition: path_line.hpp:150
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_line.cpp:173
virtual Rotation Pos(double theta) const =0
Returns the rotation matrix at angle theta.