KDL 1.5.1
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KDL::Path Class Referenceabstract

The specification of the path of a trajectory. More...

#include <src/path.hpp>

Inheritance diagram for KDL::Path:

Public Types

enum  IdentifierType {
  ID_LINE =1 , ID_CIRCLE =2 , ID_COMPOSITE =3 , ID_ROUNDED_COMPOSITE =4 ,
  ID_POINT =5 , ID_CYCLIC_CLOSED =6
}
 

Public Member Functions

virtual double LengthToS (double length)=0
 LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc.
 
virtual double PathLength ()=0
 Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical length , ie when dealing with rotations that are dominant.
 
virtual Frame Pos (double s) const =0
 Returns the Frame at the current path length s.
 
virtual Twist Vel (double s, double sd) const =0
 Returns the velocity twist at path length s theta and with derivative of s == sd.
 
virtual Twist Acc (double s, double sd, double sdd) const =0
 Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd.
 
virtual void Write (std::ostream &os)=0
 Writes one of the derived objects to the stream.
 
virtual PathClone ()=0
 Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
 
virtual IdentifierType getIdentifier () const =0
 gets an identifier indicating the type of this Path object
 
virtual ~Path ()
 

Static Public Member Functions

static PathRead (std::istream &is)
 Reads one of the derived objects from the stream and returns a pointer (factory method)
 

Detailed Description

The specification of the path of a trajectory.

Member Enumeration Documentation

◆ IdentifierType

Enumerator
ID_LINE 
ID_CIRCLE 
ID_COMPOSITE 
ID_ROUNDED_COMPOSITE 
ID_POINT 
ID_CYCLIC_CLOSED 

Constructor & Destructor Documentation

◆ ~Path()

virtual KDL::Path::~Path ( )
inlinevirtual

Member Function Documentation

◆ Acc()

virtual Twist KDL::Path::Acc ( double s,
double sd,
double sdd ) const
pure virtual

Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd.

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

Referenced by KDL::Path_Cyclic_Closed::Acc(), and KDL::Trajectory_Segment::Acc().

◆ Clone()

virtual Path * KDL::Path::Clone ( )
pure virtual

Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

Referenced by KDL::Path_Cyclic_Closed::Clone(), and KDL::Trajectory_Segment::Clone().

◆ getIdentifier()

virtual IdentifierType KDL::Path::getIdentifier ( ) const
pure virtual

gets an identifier indicating the type of this Path object

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

◆ PathLength()

virtual double KDL::Path::PathLength ( )
pure virtual

Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical length , ie when dealing with rotations that are dominant.

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

Referenced by KDL::Path_Cyclic_Closed::Acc(), KDL::Path_Composite::Add(), KDL::Path_Cyclic_Closed::PathLength(), KDL::Path_Cyclic_Closed::Pos(), KDL::Trajectory_Segment::Trajectory_Segment(), and KDL::Path_Cyclic_Closed::Vel().

◆ Pos()

virtual Frame KDL::Path::Pos ( double s) const
pure virtual

◆ Read()

Path * KDL::Path::Read ( std::istream & is)
static

Reads one of the derived objects from the stream and returns a pointer (factory method)

References Read(), and KDL::RotationalInterpolation::Read().

Referenced by Read(), and KDL::Trajectory::Read().

◆ Vel()

virtual Twist KDL::Path::Vel ( double s,
double sd ) const
pure virtual

Returns the velocity twist at path length s theta and with derivative of s == sd.

Implemented in KDL::Path_Circle, KDL::Path_Composite, KDL::Path_Cyclic_Closed, KDL::Path_Line, KDL::Path_Point, and KDL::Path_RoundedComposite.

Referenced by KDL::Path_Cyclic_Closed::Vel(), and KDL::Trajectory_Segment::Vel().

◆ Write()

virtual void KDL::Path::Write ( std::ostream & os)
pure virtual

The documentation for this class was generated from the following files: