KDL 1.5.1
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path_roundedcomposite.hpp
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1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_roundedcomposite.h
3
4 path_roundedcomposite.h - description
5 -------------------
6 begin : Mon January 10 2005
7 copyright : (C) 2005 Erwin Aertbelien
8 email : erwin.aertbelien@mech.kuleuven.ac.be
9
10 ***************************************************************************
11 * This library is free software; you can redistribute it and/or *
12 * modify it under the terms of the GNU Lesser General Public *
13 * License as published by the Free Software Foundation; either *
14 * version 2.1 of the License, or (at your option) any later version. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19 * Lesser General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU Lesser General Public *
22 * License along with this library; if not, write to the Free Software *
23 * Foundation, Inc., 59 Temple Place, *
24 * Suite 330, Boston, MA 02111-1307 USA *
25 * *
26 ***************************************************************************/
27
28
29 /*****************************************************************************
30 * \author
31 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32 *
33 * \version
34 * ORO_Geometry V0.2
35 *
36 * \par History
37 * - $log$
38 *
39 * \par Release
40 * $Id: path_roundedcomposite.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
41 * $Name: $
42 ****************************************************************************/
43
44#ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H
45#define KDL_MOTION_ROUNDEDCOMPOSITE_H
46
47#include "path.hpp"
48#include "path_composite.hpp"
50
51namespace KDL {
52
59 {
64
65
66 double radius;
67 double eqradius;
69 // cached from underlying path objects for generating the rounding :
72 //Frame F_base_end;
74
76
78
79 public:
80
89
109 void Add(const Frame& F_base_point);
110
115 void Finish();
116
117
118 virtual double LengthToS(double length);
119
126 virtual double PathLength();
127
128
132 virtual Frame Pos(double s) const;
133
138 virtual Twist Vel(double s,double sd) const;
139
144 virtual Twist Acc(double s,double sd,double sdd) const;
145
151 virtual Path* Clone();
152
156 virtual void Write(std::ostream& os);
157
161 virtual int GetNrOfSegments();
162
170 virtual Path* GetSegment(int i);
171
178 virtual double GetLengthToEndOfSegment(int i);
179
185 virtual void GetCurrentSegmentLocation(double s, int &segment_number, double& inner_s);
186
192 }
193
194
195 virtual ~Path_RoundedComposite();
196 };
197
198
199
200}
201
202
203#endif
Definition: frames.hpp:570
A Path being the composition of other Path objects.
Definition: path_composite.hpp:70
The specification of a path, composed of way-points with rounded corners.
Definition: path_roundedcomposite.hpp:59
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition: path_roundedcomposite.hpp:190
virtual Path * Clone()
virtual constructor, constructing by copying.
Definition: path_roundedcomposite.cpp:198
virtual double GetLengthToEndOfSegment(int i)
gets the length to the end of the given segment.
Definition: path_roundedcomposite.cpp:180
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:164
Frame F_base_via
Definition: path_roundedcomposite.hpp:71
Path_Composite * comp
a Path_Composite is aggregated to hold the rounded trajectory with circles and lines
Definition: path_roundedcomposite.hpp:63
virtual ~Path_RoundedComposite()
Definition: path_roundedcomposite.cpp:191
virtual Path * GetSegment(int i)
returns a pointer to the underlying Path of the given segment number i.
Definition: path_roundedcomposite.cpp:176
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:160
RotationalInterpolation * orient
Definition: path_roundedcomposite.hpp:68
virtual int GetNrOfSegments()
returns the number of underlying segments.
Definition: path_roundedcomposite.cpp:172
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition: path_roundedcomposite.cpp:168
int nrofpoints
Definition: path_roundedcomposite.hpp:73
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition: path_roundedcomposite.cpp:152
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:70
double radius
Definition: path_roundedcomposite.hpp:66
bool aggregate
Definition: path_roundedcomposite.hpp:75
double eqradius
Definition: path_roundedcomposite.hpp:67
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
Definition: path_roundedcomposite.cpp:184
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition: path_roundedcomposite.cpp:156
void Finish()
to be called after the last line is added to finish up the work
Definition: path_roundedcomposite.cpp:139
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition: path_roundedcomposite.cpp:147
Frame F_base_start
Definition: path_roundedcomposite.hpp:70
The specification of the path of a trajectory.
Definition: path.hpp:59
IdentifierType
Definition: path.hpp:61
@ ID_ROUNDED_COMPOSITE
Definition: path.hpp:65
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:63
represents both translational and rotational velocities.
Definition: frames.hpp:720
Definition: articulatedbodyinertia.cpp:26