ROBOOP::Spl_path Class Reference#include <trajectory.h>
Inheritance diagram for ROBOOP::Spl_path:
[legend]List of all members.
Detailed Description
Cartesian or joint space trajectory.
Definition at line 121 of file trajectory.h.
Constructor & Destructor Documentation
ROBOOP::Spl_path::Spl_path |
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ROBOOP::Spl_path::Spl_path |
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const string & |
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Constructor.
- Parameters:
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Here is two examples of file. # is used as a comment, the rest of line is ignored. The first line should contain the string CARTESIAN_SPACE or JOINT_SPACE. The following number (3 in first example and 6 in the second) represents the number of points on each data line. 0, 0.5 and 1.0 in example 1 represents the time.
Example 1: #
#
#
CARTESIAN_SPACE
3
0
0.452100 -0.150050 -0.731800
0.5
0.561821 -0.021244 -0.537842
1.0
0.577857 0.268650 -0.323976
Example 2: #
#
#
JOINT_SPACE
6
0
0 0 0 0 0 0
1.
0.2 -0.4 0.1 0.2 0.3 0.0
2.0
0.6 -0.8 0.2 0.4 0.4 0.0
Definition at line 247 of file trajectory.cpp. |
ROBOOP::Spl_path::Spl_path |
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const Matrix & |
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ROBOOP::Spl_path::Spl_path |
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const Spl_path & |
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Member Function Documentation
double ROBOOP::Spl_path::get_final_time |
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short ROBOOP::Spl_path::get_type |
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Member Data Documentation
The documentation for this class was generated from the following files:
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