44#ifndef KDL_MOTION_ROUNDEDCOMPOSITE_H
45#define KDL_MOTION_ROUNDEDCOMPOSITE_H
109 void Add(
const Frame& F_base_point);
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);
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