The specification of a path, composed of way-points with rounded corners. More...

#include <src/path_roundedcomposite.hpp>

Inheritance diagram for KDL::Path_RoundedComposite:

Collaboration diagram for KDL::Path_RoundedComposite:

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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
	Path_RoundedComposite (double radius, double eqradius, RotationalInterpolation *orient, bool aggregate=true)

void	Add (const Frame &F_base_point)
	Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle.

void	Finish ()
	to be called after the last line is added to finish up the work

virtual double	LengthToS (double length)
	LengthToS() converts a physical length along the trajectory to the parameter s used in Pos, Vel and Acc.

virtual double	PathLength ()
	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
	Returns the Frame at the current path length s.

virtual Twist	Vel (double s, double sd) const
	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
	Returns the acceleration twist at path length s and with derivative of s == sd, and 2nd derivative of s == sdd.

virtual Path *	Clone ()
	virtual constructor, constructing by copying.

virtual void	Write (std::ostream &os)
	Writes one of the derived objects to the stream.

virtual int	GetNrOfSegments ()
	returns the number of underlying segments.

virtual Path *	GetSegment (int i)
	returns a pointer to the underlying Path of the given segment number i.

virtual double	GetLengthToEndOfSegment (int i)
	gets the length to the end of the given segment.

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

virtual IdentifierType	getIdentifier () const
	gets an identifier indicating the type of this Path object

virtual	~Path_RoundedComposite ()

Static Public Member Functions
static Path *	Read (std::istream &is)
	Reads one of the derived objects from the stream and returns a pointer (factory method)

Private Member Functions
	Path_RoundedComposite (Path_Composite comp, double radius, double eqradius, RotationalInterpolation orient, bool aggregate, int nrofpoints)

Private Attributes
Path_Composite *	comp
	a Path_Composite is aggregated to hold the rounded trajectory with circles and lines

double	radius

double	eqradius

RotationalInterpolation *	orient

Frame	F_base_start

Frame	F_base_via

int	nrofpoints

bool	aggregate

Detailed Description

The specification of a path, composed of way-points with rounded corners.

Member Enumeration Documentation

◆ IdentifierType

enum KDL::Path::IdentifierType

inherited

Enumerator
ID_LINE
ID_CIRCLE
ID_COMPOSITE
ID_ROUNDED_COMPOSITE
ID_POINT
ID_CYCLIC_CLOSED

Constructor & Destructor Documentation

◆ Path_RoundedComposite() [1/2]

KDL::Path_RoundedComposite::Path_RoundedComposite	(	Path_Composite *	comp,
		double	radius,
		double	eqradius,
		RotationalInterpolation *	orient,
		bool	aggregate,
		int	nrofpoints )

private

References aggregate, comp, eqradius, nrofpoints, orient, and radius.

Referenced by Clone().

◆ Path_RoundedComposite() [2/2]

KDL::Path_RoundedComposite::Path_RoundedComposite	(	double	radius,
		double	eqradius,
		RotationalInterpolation *	orient,
		bool	aggregate = true )

Parameters

radius	: radius of the rounding circles
eqradius	: equivalent radius to compare rotations/velocities
orient	: method of rotational_interpolation interpolation
aggregate	: if true, this object will own the _orient pointer, i.e. it will delete the _orient pointer when the destructor of this object is called.

References aggregate, comp, eqradius, nrofpoints, orient, and radius.

◆ ~Path_RoundedComposite()

KDL::Path_RoundedComposite::~Path_RoundedComposite ( )

virtual

References aggregate, comp, and orient.

Member Function Documentation

◆ Acc()

Twist KDL::Path_RoundedComposite::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.

References comp.

◆ Add()

void KDL::Path_RoundedComposite::Add ( const Frame & F_base_point )

Adds a point to this rounded composite, between to adjecent points a Path_Line will be created, between two lines there will be rounding with the given radius with a Path_Circle.

The Error_MotionPlanning_Not_Feasible has a type (obtained by GetType) of:

3101 if the eq. radius <= 0
3102 if the first segment in a rounding has zero length.
3103 if the second segment in a rounding has zero length.
3104 if the angle between the first and the second segment is close to PI. (meaning that the segments are on top of each other)
3105 if the distance needed for the rounding is larger then the first segment.
3106 if the distance needed for the rounding is larger then the second segment.

Parameters

F_base_point the pose of a new via point.

Warning: Can throw Error_MotionPlanning_Not_Feasible object @TODO handle the case of error type 3105 and 3106 by skipping segments, such that the class could be applied with points that are very close to each other.

References comp, KDL::dot(), eqradius, F_base_start, F_base_via, KDL::Frame::M, KDL::Vector::Norm(), KDL::Vector::Normalize(), nrofpoints, orient, KDL::Frame::p, and radius.

◆ Clone()

Path * KDL::Path_RoundedComposite::Clone ( )

virtual

virtual constructor, constructing by copying.

In this case it returns the Clone() of the aggregated Path_Composite because this is all one ever will need.

Implements KDL::Path.

References comp, eqradius, nrofpoints, orient, Path_RoundedComposite(), and radius.

◆ Finish()

void KDL::Path_RoundedComposite::Finish ( )

to be called after the last line is added to finish up the work

References comp, eqradius, F_base_start, F_base_via, nrofpoints, and orient.

◆ GetCurrentSegmentLocation()

void KDL::Path_RoundedComposite::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.

References comp.

◆ getIdentifier()

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

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

References KDL::Path::ID_ROUNDED_COMPOSITE.

◆ GetLengthToEndOfSegment()

double KDL::Path_RoundedComposite::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.

References comp.

◆ GetNrOfSegments()

int KDL::Path_RoundedComposite::GetNrOfSegments ( )

virtual

returns the number of underlying segments.

References comp.

◆ GetSegment()

Path * KDL::Path_RoundedComposite::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.

References comp.

◆ LengthToS()

double KDL::Path_RoundedComposite::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.

References comp.

◆ PathLength()

double KDL::Path_RoundedComposite::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.

References comp.

◆ Pos()

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

virtual

Returns the Frame at the current path length s.

Implements KDL::Path.

References comp.

◆ Read()

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

staticinherited

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()

Twist KDL::Path_RoundedComposite::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.

References comp.

◆ Write()

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

virtual

Writes one of the derived objects to the stream.

Implements KDL::Path.

References comp.

Member Data Documentation

◆ aggregate

bool KDL::Path_RoundedComposite::aggregate

private

Referenced by Path_RoundedComposite(), Path_RoundedComposite(), and ~Path_RoundedComposite().

◆ comp

Path_Composite* KDL::Path_RoundedComposite::comp

private

a Path_Composite is aggregated to hold the rounded trajectory with circles and lines

Referenced by Acc(), Add(), Clone(), Finish(), GetCurrentSegmentLocation(), GetLengthToEndOfSegment(), GetNrOfSegments(), GetSegment(), LengthToS(), Path_RoundedComposite(), Path_RoundedComposite(), PathLength(), Pos(), Vel(), Write(), and ~Path_RoundedComposite().

◆ eqradius

double KDL::Path_RoundedComposite::eqradius

private

Referenced by Add(), Clone(), Finish(), Path_RoundedComposite(), and Path_RoundedComposite().

◆ F_base_start

Frame KDL::Path_RoundedComposite::F_base_start

private

Referenced by Add(), and Finish().

◆ F_base_via

Frame KDL::Path_RoundedComposite::F_base_via

private

Referenced by Add(), and Finish().

◆ nrofpoints

int KDL::Path_RoundedComposite::nrofpoints

private

Referenced by Add(), Clone(), Finish(), Path_RoundedComposite(), and Path_RoundedComposite().

◆ orient

RotationalInterpolation* KDL::Path_RoundedComposite::orient

private

Referenced by Add(), Clone(), Finish(), Path_RoundedComposite(), Path_RoundedComposite(), and ~Path_RoundedComposite().

◆ radius

double KDL::Path_RoundedComposite::radius

private

Referenced by Add(), Clone(), Path_RoundedComposite(), and Path_RoundedComposite().

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

src/path_roundedcomposite.hpp
src/path_roundedcomposite.cpp

Public Types

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ IdentifierType

Constructor & Destructor Documentation

◆ Path_RoundedComposite() [1/2]

◆ Path_RoundedComposite() [2/2]

◆ ~Path_RoundedComposite()

Member Function Documentation

◆ Acc()

◆ Add()

◆ Clone()

◆ Finish()

◆ GetCurrentSegmentLocation()

◆ getIdentifier()

◆ GetLengthToEndOfSegment()

◆ GetNrOfSegments()

◆ GetSegment()

◆ LengthToS()

◆ PathLength()

◆ Pos()

◆ Read()

◆ Vel()

◆ Write()

Member Data Documentation

◆ aggregate

◆ comp

◆ eqradius

◆ F_base_start

◆ F_base_via

◆ nrofpoints

◆ orient

◆ radius