KDL 1.5.1
Loading...
Searching...
No Matches
path_composite.hpp
Go to the documentation of this file.
1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 path_composite.h
3
4 path_composite.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_composite.h,v 1.1.1.1.2.5 2003/07/24 13:49:16 rwaarsin Exp $
41 * $Name: $
42 ****************************************************************************/
43
44#ifndef KDL_PATHCOMPOSITE_H
45#define KDL_PATHCOMPOSITE_H
46
47#include "frames.hpp"
48#include "frames_io.hpp"
49#include "path.hpp"
50#include <vector>
51
52namespace KDL {
53
69 class Path_Composite : public Path
70 {
71 typedef std::vector< std::pair<Path*,bool> > PathVector;
72 typedef std::vector<double> DoubleVector;
73
76 double pathlength;
77
78 // lookup mechanism :
79 mutable double cached_starts;
80 mutable double cached_ends;
81 mutable int cached_index;
82 double Lookup(double s) const;
83 public:
84
85
87
91 void Add(Path* geom, bool aggregate=true);
92
93
94 virtual double LengthToS(double length);
101 virtual double PathLength();
102
106 virtual Frame Pos(double s) const;
107
112 virtual Twist Vel(double s,double sd) const;
113
118 virtual Twist Acc(double s,double sd,double sdd) const;
119
120 virtual Path* Clone();
121
125 virtual void Write(std::ostream& os);
126
130 virtual int GetNrOfSegments();
131
139 virtual Path* GetSegment(int i);
140
147 virtual double GetLengthToEndOfSegment(int i);
148
154 virtual void GetCurrentSegmentLocation(double s, int &segment_number, double& inner_s);
155
160 return ID_COMPOSITE;
161 }
162
163 virtual ~Path_Composite();
164 };
165
166
167
168}
169
170
171#endif
Definition frames.hpp:570
A Path being the composition of other Path objects.
Definition path_composite.hpp:70
virtual Path * GetSegment(int i)
returns a pointer to the underlying Path of the given segment number i.
Definition path_composite.cpp:134
int cached_index
Definition path_composite.hpp:81
virtual ~Path_Composite()
Definition path_composite.cpp:153
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_composite.cpp:103
double cached_starts
Definition path_composite.hpp:79
virtual double PathLength()
Returns the total path length of the trajectory (has dimension LENGTH) This is not always a physical ...
Definition path_composite.cpp:93
virtual Frame Pos(double s) const
Returns the Frame at the current path length s.
Definition path_composite.cpp:98
virtual int GetNrOfSegments()
returns the number of underlying segments.
Definition path_composite.cpp:130
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_composite.cpp:108
void Add(Path *geom, bool aggregate=true)
Adds a Path* to this composite.
Definition path_composite.cpp:82
DoubleVector dv
Definition path_composite.hpp:75
virtual double LengthToS(double length)
LengthToS() converts a physical length along the trajectory to the parameter s used in Pos,...
Definition path_composite.cpp:88
std::vector< double > DoubleVector
Definition path_composite.hpp:72
std::vector< std::pair< Path *, bool > > PathVector
Definition path_composite.hpp:71
double pathlength
Definition path_composite.hpp:76
Path_Composite()
Definition path_composite.cpp:75
virtual double GetLengthToEndOfSegment(int i)
gets the length to the end of the given segment.
Definition path_composite.cpp:140
virtual void GetCurrentSegmentLocation(double s, int &segment_number, double &inner_s)
Definition path_composite.cpp:146
PathVector gv
Definition path_composite.hpp:74
virtual void Write(std::ostream &os)
Writes one of the derived objects to the stream.
Definition path_composite.cpp:121
double Lookup(double s) const
Definition path_composite.cpp:55
double cached_ends
Definition path_composite.hpp:80
virtual IdentifierType getIdentifier() const
gets an identifier indicating the type of this Path object
Definition path_composite.hpp:159
virtual Path * Clone()
Virtual constructor, constructing by copying, Returns a deep copy of this Path Object.
Definition path_composite.cpp:113
The specification of the path of a trajectory.
Definition path.hpp:59
IdentifierType
Definition path.hpp:61
@ ID_COMPOSITE
Definition path.hpp:64
represents both translational and rotational velocities.
Definition frames.hpp:720
Defines routines for I/O of Frame and related objects.
Definition articulatedbodyinertia.cpp:26