KDL 1.5.1
Loading...
Searching...
No Matches
path_cyclic_closed.hpp
Go to the documentation of this file.
1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_cyclic_closed.h
3
4 path_cyclic_closed.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 V2
35 *
36 * \par History
37 * - $log$
38 *
39 * \par Release
40 * $Id: path_cyclic_closed.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
41 * $Name: $
42 ****************************************************************************/
43
44#ifndef KDL_MOTION_PATH_CYCLIC_CLOSED_H
45#define KDL_MOTION_PATH_CYCLIC_CLOSED_H
46
47#include "frames.hpp"
48#include "frames_io.hpp"
49#include "path.hpp"
50#include <vector>
51
52
53namespace KDL {
54
60 class Path_Cyclic_Closed : public Path
61 {
62 int times;
65 public:
66 Path_Cyclic_Closed(Path* _geom,int _times, bool _aggregate=true);
67 virtual double LengthToS(double length);
68 virtual double PathLength();
69 virtual Frame Pos(double s) const;
70 virtual Twist Vel(double s,double sd) const;
71 virtual Twist Acc(double s,double sd,double sdd) const;
72
73 virtual void Write(std::ostream& os);
74 static Path* Read(std::istream& is);
75 virtual Path* Clone();
79 virtual IdentifierType getIdentifier() const {
80 return ID_CYCLIC_CLOSED;
81 }
82 virtual ~Path_Cyclic_Closed();
83 };
84
85
86
87}
88
89
90#endif
Definition frames.hpp:570
A Path representing a closed circular movement, which is traversed a number of times.
Definition path_cyclic_closed.hpp:61
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_cyclic_closed.cpp:64
static Path * Read(std::istream &is)
virtual ~Path_Cyclic_Closed()
Definition path_cyclic_closed.cpp:73
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition path_cyclic_closed.cpp:78
Path * geom
Definition path_cyclic_closed.hpp:63
int times
Definition path_cyclic_closed.hpp:62
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_cyclic_closed.cpp:68
bool aggregate
Definition path_cyclic_closed.hpp:64
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition path_cyclic_closed.cpp:60
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition path_cyclic_closed.cpp:82
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition path_cyclic_closed.hpp:79
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition path_cyclic_closed.cpp:56
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition path_cyclic_closed.cpp:51
The specification of the path of a trajectory.
Definition path.hpp:59
IdentifierType
Definition path.hpp:61
@ ID_CYCLIC_CLOSED
Definition path.hpp:67
represents both translational and rotational velocities.
Definition frames.hpp:720
Defines routines for I/O of Frame and related objects.
Definition articulatedbodyinertia.cpp:26