A Path being the composition of other Path objects. More...

#include <src/path_composite.hpp>

Inheritance diagram for KDL::Path_Composite:

Collaboration diagram for KDL::Path_Composite:

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_Composite ()

void	Add (Path *geom, bool aggregate=true)
	Adds a Path* to this composite. More...

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

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. More...

virtual Frame	Pos (double s) const
	Returns the Frame at the current path length s. More...

virtual Twist	Vel (double s, double sd) const
	Returns the velocity twist at path length s theta and with derivative of s == sd. More...

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. More...

virtual Path *	Clone ()
	Virtual constructor, constructing by copying, Returns a deep copy of this Path Object. More...

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

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

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

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

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 More...

virtual	~Path_Composite ()

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) More...

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

typedef std::vector< double >	DoubleVector

Private Member Functions
double	Lookup (double s) const

Private Attributes
PathVector	gv

DoubleVector	dv

double	pathlength

double	cached_starts

double	cached_ends

int	cached_index

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.

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

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

explain this routine in the wiki.

Member Typedef Documentation

◆ DoubleVector

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

private

◆ PathVector

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

private

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_Composite()

KDL::Path_Composite::Path_Composite ( )

References cached_ends, cached_index, cached_starts, and pathlength.

Referenced by Clone().

◆ ~Path_Composite()

KDL::Path_Composite::~Path_Composite ( )

virtual

References gv.

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.

References cached_index, gv, and Lookup().

Referenced by KDL::Path_RoundedComposite::Acc().

◆ Add()

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

Adds a Path* to this composite.

References dv, gv, pathlength, and KDL::Path::PathLength().

Referenced by KDL::Path_RoundedComposite::Add(), and KDL::Path_RoundedComposite::Finish().

◆ Clone()

Path * KDL::Path_Composite::Clone ( )

virtual

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

Implements KDL::Path.

References dv, gv, and Path_Composite().

Referenced by KDL::Path_RoundedComposite::Clone().

◆ 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.

References cached_index, and Lookup().

Referenced by KDL::Path_RoundedComposite::GetCurrentSegmentLocation().

◆ getIdentifier()

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

inlinevirtual

gets an identifier indicating the type of this Path object

Implements KDL::Path.

References KDL::Path::ID_COMPOSITE.

◆ 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.

References dv.

Referenced by KDL::Path_RoundedComposite::GetLengthToEndOfSegment().

◆ GetNrOfSegments()

int KDL::Path_Composite::GetNrOfSegments ( )

virtual

returns the number of underlying segments.

References dv.

Referenced by KDL::Path_RoundedComposite::GetNrOfSegments().

◆ 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.

References dv, and gv.

Referenced by KDL::Path_RoundedComposite::GetSegment().

◆ 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.

Referenced by KDL::Path_RoundedComposite::LengthToS().

◆ Lookup()

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

private

References cached_ends, cached_index, cached_starts, dv, and pathlength.

Referenced by Acc(), GetCurrentSegmentLocation(), Pos(), and Vel().

◆ 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.

References pathlength.

Referenced by KDL::Path_RoundedComposite::PathLength().