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ROBOOP::Spl_path Class Reference

#include <trajectory.h>

Inheritance diagram for ROBOOP::Spl_path:

List of all members.


Detailed Description

Cartesian or joint space trajectory.

Definition at line 121 of file trajectory.h.


Public Member Functions

 Spl_path ()
 Spl_path (const std::string &filename)
 Constructor.
 Spl_path (const Matrix &x)
 Constructor.
 Spl_path (const Spl_path &x)
 Copy constructor.
Spl_pathoperator= (const Spl_path &x)
 Overload = operator.
short p (const Real time, ColumnVector &p)
 Position vector at time t.
short p_pdot (const Real time, ColumnVector &p, ColumnVector &pdot)
 Position and velocity vector at time t.
short p_pdot_pddot (const Real time, ColumnVector &p, ColumnVector &pdot, ColumnVector &pdotdot)
 Position, velocity and acceleration vector at time t.
short get_type ()
double get_final_time ()

Private Attributes

short type
 Cartesian space or joint space.
double final_time
 Spline final time.

Constructor & Destructor Documentation

ROBOOP::Spl_path::Spl_path (  )  [inline]

Definition at line 124 of file trajectory.h.

ROBOOP::Spl_path::Spl_path ( const std::string &  filename  ) 

Constructor.

Parameters:
filename,: Spline data.
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 250 of file trajectory.cpp.

ROBOOP::Spl_path::Spl_path ( const Matrix x  ) 

Constructor.

Definition at line 404 of file trajectory.cpp.

ROBOOP::Spl_path::Spl_path ( const Spl_path x  ) 

Copy constructor.

Definition at line 413 of file trajectory.cpp.


Member Function Documentation

Spl_path & ROBOOP::Spl_path::operator= ( const Spl_path x  ) 

Overload = operator.

Definition at line 420 of file trajectory.cpp.

short ROBOOP::Spl_path::p ( const Real  time,
ColumnVector p 
)

Position vector at time t.

Definition at line 429 of file trajectory.cpp.

Referenced by Spl_path().

short ROBOOP::Spl_path::p_pdot ( const Real  time,
ColumnVector p,
ColumnVector pdot 
)

Position and velocity vector at time t.

Definition at line 441 of file trajectory.cpp.

Referenced by ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), and ROBOOP::Dynamics::xdot().

short ROBOOP::Spl_path::p_pdot_pddot ( const Real  time,
ColumnVector p,
ColumnVector pdot,
ColumnVector pdotdot 
)

Position, velocity and acceleration vector at time t.

Definition at line 458 of file trajectory.cpp.

Referenced by ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), and ROBOOP::Dynamics::xdot().

short ROBOOP::Spl_path::get_type (  )  [inline]

Definition at line 133 of file trajectory.h.

Referenced by ROBOOP::Trajectory_Select::set_trajectory().

double ROBOOP::Spl_path::get_final_time (  )  [inline]

Definition at line 134 of file trajectory.h.

Referenced by ROBOOP::Dynamics::set_robot_on_first_point_of_splines().


Member Data Documentation

short ROBOOP::Spl_path::type [private]

Cartesian space or joint space.

Definition at line 137 of file trajectory.h.

Referenced by get_type(), operator=(), and Spl_path().

double ROBOOP::Spl_path::final_time [private]

Spline final time.

Definition at line 138 of file trajectory.h.

Referenced by get_final_time(), operator=(), and Spl_path().


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

ROBOOP v1.21a
Generated Thu Nov 22 00:51:36 2007 by Doxygen 1.5.4