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44 #ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H
45 #define KDL_MOTION_ROUNDEDCOMPOSITE_H
58 class Path_RoundedComposite :
public Path
68 RotationalInterpolation*
orient;
109 void Add(
const Frame& F_base_point);
132 virtual Frame
Pos(
double s)
const;
138 virtual Twist
Vel(
double s,
double sd)
const;
144 virtual Twist Acc(
double s,
double sd,
double sdd)
const;
156 virtual void Write(std::ostream& os);
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_roundedcomposite.cpp:192
virtual Path * GetSegment(int i)
returns a pointer to the underlying Path of the given segment number i.
Definition: path_composite.cpp:171
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition: path_composite.cpp:150
double eqradius
Definition: path_line.hpp:147
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_roundedcomposite.cpp:188
RotationalInterpolation * orient
Definition: path_roundedcomposite.hpp:144
Vector p
origine of the Frame
Definition: frames.hpp:572
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_composite.cpp:130
bool aggregate
Definition: path_roundedcomposite.hpp:151
virtual double GetLengthToEndOfSegment(int i)
gets the length to the end of the given segment.
Definition: path_roundedcomposite.cpp:216
virtual Path * Clone()
virtual constructor, constructing by copying.
Definition: path_roundedcomposite.cpp:234
double radius
Definition: path_roundedcomposite.hpp:142
virtual ~Path_RoundedComposite()
Definition: path_roundedcomposite.cpp:227
@ ID_ROUNDED_COMPOSITE
Definition: path.hpp:179
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
Path_RoundedComposite(Path_Composite *comp, double radius, double eqradius, RotationalInterpolation *orient, bool aggregate, int nrofpoints)
Definition: path_roundedcomposite.cpp:92
void Add(const Frame &F_base_point)
Adds a point to this rounded composite, between to adjecent points a Path_Line will be created,...
Definition: path_roundedcomposite.cpp:107
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
Frame F_base_via
Definition: path_roundedcomposite.hpp:147
represents both translational and rotational velocities.
Definition: frames.hpp:720
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_roundedcomposite.cpp:183
int nrofpoints
Definition: path_roundedcomposite.hpp:149
doubleAcc dot(const VectorAcc &lhs, const VectorAcc &rhs)
Definition: frameacc.inl:137
A circular Path with 'open ends'.
Definition: path_circle.hpp:100
double eqradius
Definition: path_roundedcomposite.hpp:143
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_composite.cpp:158
Definition: frames.hpp:570
A path representing a line from A to B.
Definition: path_line.hpp:99
IdentifierType
Definition: path.hpp:137
virtual double GetLengthToEndOfSegment(int i)
gets the length to the end of the given segment.
Definition: path_composite.cpp:177
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
Definition: path_roundedcomposite.cpp:220
void Finish()
to be called after the last line is added to finish up the work
Definition: path_roundedcomposite.cpp:175
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_composite.cpp:145
virtual Path * GetSegment(int i)
returns a pointer to the underlying Path of the given segment number i.
Definition: path_roundedcomposite.cpp:212
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_roundedcomposite.cpp:200
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_composite.cpp:140
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
Definition: path_composite.cpp:183
virtual int GetNrOfSegments()
returns the number of underlying segments.
Definition: path_roundedcomposite.cpp:208
double Norm() const
Definition: frames.cpp:118
A Path being the composition of other Path objects.
Definition: path_composite.hpp:108
Rotation M
Orientation of the Frame.
Definition: frames.hpp:573
Path_Composite * comp
a Path_Composite is aggregated to hold the rounded trajectory with circles and lines
Definition: path_roundedcomposite.hpp:139
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_roundedcomposite.hpp:266
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_roundedcomposite.cpp:196
Frame F_base_start
Definition: path_roundedcomposite.hpp:146
virtual RotationalInterpolation * Clone() const =0
virtual constructor, construction by copying .
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_composite.cpp:125
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_roundedcomposite.cpp:204
The specification of the path of a trajectory.
Definition: path.hpp:97
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_composite.cpp:135
void Add(Path *geom, bool aggregate=true)
Adds a Path* to this composite.
Definition: path_composite.cpp:119
virtual int GetNrOfSegments()
returns the number of underlying segments.
Definition: path_composite.cpp:167