#include <path_composite.hpp>

Inheritance diagram for KDL::Path_Composite:

Public Member Functions
virtual Twist	Acc (double s, double sd, double sdd) const

void	Add (Path *geom, bool aggregate=true)

virtual Path *	Clone ()

virtual void	GetCurrentSegmentLocation (double s, int &segment_number, double &inner_s)

virtual IdentifierType	getIdentifier () const

virtual double	GetLengthToEndOfSegment (int i)

virtual int	GetNrOfSegments ()

virtual Path *	GetSegment (int i)

virtual double	LengthToS (double length)

	Path_Composite ()

virtual double	PathLength ()

virtual Frame	Pos (double s) const

virtual Twist	Vel (double s, double sd) const

virtual void	Write (std::ostream &os)

virtual	~Path_Composite ()

Public Member Functions inherited from KDL::Path
virtual	~Path ()

Private Types
typedef std::vector< double >	DoubleVector

typedef std::vector< std::pair< Path *, bool > >	PathVector

Private Member Functions
double	Lookup (double s) const

Private Attributes
double	cached_ends

int	cached_index

double	cached_starts

DoubleVector	dv

PathVector	gv

double	pathlength

Additional Inherited Members
Public Types inherited from KDL::Path
enum	IdentifierType { ID_LINE =1, ID_CIRCLE =2, ID_COMPOSITE =3, ID_ROUNDED_COMPOSITE =4, ID_POINT =5, ID_CYCLIC_CLOSED =6 }

Static Public Member Functions inherited from KDL::Path
static Path *	Read (std::istream &is)

Detailed Description

A Path being the composition of other Path objects.

For several of its methods, this class needs to lookup the segment corresponding to a value of the path variable s. To increase efficiency, this value is cached.

\TODO Currently a linear search is used to look up the segment. A binary search is more efficient. Can STL be used for this ? \TODO Increase the efficiency for caching for the common case of a fine grained monotonously increasing path variable s.

\TODO For all Path.., VelocityProfile.., Trajectory... check the bounds on the inputs with asserts.

\TODO explain this routine in the wiki.

Definition at line 107 of file path_composite.hpp.

Member Typedef Documentation

◆ DoubleVector

typedef std::vector<double> KDL::Path_Composite::DoubleVector

private

Definition at line 148 of file path_composite.hpp.

◆ PathVector

typedef std::vector< std::pair<Path*,bool> > KDL::Path_Composite::PathVector

private

Definition at line 147 of file path_composite.hpp.

Constructor & Destructor Documentation

◆ Path_Composite()

KDL::Path_Composite::Path_Composite ( )

Definition at line 113 of file path_composite.cpp.

◆ ~Path_Composite()

KDL::Path_Composite::~Path_Composite ( )

virtual

Definition at line 191 of file path_composite.cpp.

Member Function Documentation

◆ Acc()

Twist KDL::Path_Composite::Acc	(	double	s,
		double	sd,
		double	sdd
	)		const

virtual

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

Implements KDL::Path.

Definition at line 146 of file path_composite.cpp.

◆ Add()

void KDL::Path_Composite::Add	(	Path *	geom,
		bool	aggregate = `true`
	)

Adds a Path* to this composite

Definition at line 120 of file path_composite.cpp.

◆ Clone()

Path * KDL::Path_Composite::Clone ( )

virtual

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

Implements KDL::Path.

Definition at line 151 of file path_composite.cpp.

◆ GetCurrentSegmentLocation()

void KDL::Path_Composite::GetCurrentSegmentLocation	(	double	s,
		int &	segment_number,
		double &	inner_s
	)

virtual

Parameters

s	[INPUT] path length variable for the composite.
segment_number	[OUTPUT] segments that corresponds to the path length variable s.
inner_s	[OUTPUT] path length to use within the segment.

Definition at line 184 of file path_composite.cpp.

◆ getIdentifier()

virtual IdentifierType KDL::Path_Composite::getIdentifier ( ) const

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

Definition at line 235 of file path_composite.hpp.

◆ GetLengthToEndOfSegment()

double KDL::Path_Composite::GetLengthToEndOfSegment ( int i )

virtual

gets the length to the end of the given segment.

Parameters

i	segment number

Returns: length to the end of the segment, i.e. the value for s corresponding to the end of this segment.

Definition at line 178 of file path_composite.cpp.

◆ GetNrOfSegments()

int KDL::Path_Composite::GetNrOfSegments ( )

virtual

returns the number of underlying segments.

Definition at line 168 of file path_composite.cpp.

◆ GetSegment()

Path * KDL::Path_Composite::GetSegment ( int i )

virtual

returns a pointer to the underlying Path of the given segment number i.

Parameters

i	segment number

Returns: pointer to the underlying Path

Warning: The pointer is still owned by this class and is lifetime depends on the lifetime of this class.

Definition at line 172 of file path_composite.cpp.

◆ LengthToS()

double KDL::Path_Composite::LengthToS ( double length )

virtual

LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc. This is used because in cases with large rotations the parameter s does NOT correspond to the lineair length along the trajectory. User should be sure that the lineair distance travelled by this path object is NOT zero, when using this method ! (e.g. the case of only rotational change) throws Error_MotionPlanning_Not_Applicable if used on composed path objects.

Implements KDL::Path.

Definition at line 126 of file path_composite.cpp.

◆ Lookup()

double KDL::Path_Composite::Lookup ( double s ) const

private

Definition at line 93 of file path_composite.cpp.

◆ PathLength()

double KDL::Path_Composite::PathLength ( )

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.

Implements KDL::Path.

Definition at line 131 of file path_composite.cpp.

◆ Pos()

Frame KDL::Path_Composite::Pos ( double s ) const

virtual

Returns the Frame at the current path length s

Implements KDL::Path.

Definition at line 136 of file path_composite.cpp.

◆ Vel()

Twist KDL::Path_Composite::Vel	(	double	s,
		double	sd
	)		const

virtual

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

Implements KDL::Path.

Definition at line 141 of file path_composite.cpp.

◆ Write()

void KDL::Path_Composite::Write ( std::ostream & os )

virtual

Writes one of the derived objects to the stream

Implements KDL::Path.

Definition at line 159 of file path_composite.cpp.

Member Data Documentation

◆ cached_ends

double KDL::Path_Composite::cached_ends

mutableprivate

Definition at line 156 of file path_composite.hpp.

◆ cached_index

int KDL::Path_Composite::cached_index

mutableprivate

Definition at line 157 of file path_composite.hpp.

◆ cached_starts

double KDL::Path_Composite::cached_starts

mutableprivate

Definition at line 155 of file path_composite.hpp.

◆ dv

DoubleVector KDL::Path_Composite::dv

private

Definition at line 151 of file path_composite.hpp.

◆ gv

PathVector KDL::Path_Composite::gv

private

Definition at line 150 of file path_composite.hpp.

◆ pathlength

double KDL::Path_Composite::pathlength

private

Definition at line 152 of file path_composite.hpp.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ DoubleVector

◆ PathVector

Constructor & Destructor Documentation

◆ Path_Composite()

◆ ~Path_Composite()

Member Function Documentation

◆ Acc()

◆ Add()

◆ Clone()

◆ GetCurrentSegmentLocation()

◆ getIdentifier()

◆ GetLengthToEndOfSegment()

◆ GetNrOfSegments()

◆ GetSegment()

◆ LengthToS()

◆ Lookup()

◆ PathLength()

◆ Pos()

◆ Vel()

◆ Write()

Member Data Documentation

◆ cached_ends

◆ cached_index

◆ cached_starts

◆ dv

◆ gv

◆ pathlength