class genericPath

A base class for cartesian-space trajectories.

Inheritance:

Public Fields

int pathNum

the group of paths to which the path belongs.

int endPtNum

the index of the end effector that should follow the path

int reachedStart

indicates whether the robot has reached the first point on the the path yet

int reachedEnd

indicates whether the robot has reached the last point on the the path yet

int usePayload

indicates whether a payload should be moved along the path

payload* pl

the payload (if any) being moved along the path

int useAppliedForce

indicates whether the end effector should apply a force and and torque as it moves along the path

triple toolForce

the force (if useAppliedForce is 1) to apply along the path

triple toolTorque

the torque (if useAppliedForce is 1) to apply along the path

endPointRec* endPt

a pointer to the end effector (if any) currently following the path

const char* payloadLabel

the label for the payload (if any) to be moved along the path

int payloadConnectorID

the ID of the connector on the payload that should be connected to the tool's TCP

int alignPayload

indicates whether the payload's connector should be aligned to the tool's TCP before attaching it.

Public Methods

~genericPath(void)

destructor

virtual void getStartPoint(triple &t, quaternion &q) = 0

returns the pose of the first point on the path

virtual vector computeVel(double dt, quaternion* outputFrame = NULL) = 0

computes a velocity command for the end effector.

virtual void reset(void)

resets the path state

virtual int atStart(void)

returns 1 if the end effector has reached the first point on the path

virtual int done(void)

returns 1 if the end effector has reached the last point on the path

virtual double completion(void)

returns a number between 0 and 1 indicating the fraction of the the path that has been completed

virtual triple computeCrossTrackError(triple &pos) = 0

returns the current cross-track error of the given position

virtual triple computeOrientationError(quaternion &q) = 0

returns the current orientation error of the given orientation

Inherited from d2kComponent:

Public Fields

d2kSimulator* sim

configuration* cfg

const char* label

int active

Public Methods

virtual int minCfgs(void) const

virtual int maxCfgs(void) const

virtual const char* getCfgName(int i)

virtual int readParams(paramParser* parser)

virtual int setVariables(const ptrList* taskParamRecs)

virtual int simInit(d2kSimulator* Sim)

virtual int init(ptrList* Cfgs)

virtual int forceCfgResolution(void)

virtual int cleanup(void)

virtual int update(int &violated)

virtual const cfgLabelRecord* getLabelRec(int i) const

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

A base class for cartesian-space trajectories. File variables

• int endPtNum required
• int pathNum required
• int verboseLevel = 1;
• int usePayload = 0;
• int payloadConnectorID (required if usePayload = 1)
• int alignPayload (required if usePayload = 1)
• int payloadLabel (required if usePayload = 1)
• int payloadConnectorID (required if usePayload = 1)
• int useAppliedForce = 0;
• triple toolForce = 0; (only used if useAppliedForce = 1)
• triple toolTorque = 0; (only used if useAppliedForce = 1)

int pathNum

the group of paths to which the path belongs. This is used by the pathEvaluator to group paths together if they should be simultaneously followed by multiple end effectors

int endPtNum

the index of the end effector that should follow the path

int reachedStart

indicates whether the robot has reached the first point on the the path yet

int reachedEnd

indicates whether the robot has reached the last point on the the path yet

int usePayload

indicates whether a payload should be moved along the path

payload* pl

the payload (if any) being moved along the path

int useAppliedForce

indicates whether the end effector should apply a force and and torque as it moves along the path

triple toolForce

the force (if useAppliedForce is 1) to apply along the path

triple toolTorque

the torque (if useAppliedForce is 1) to apply along the path

endPointRec* endPt

a pointer to the end effector (if any) currently following the path

const char* payloadLabel

the label for the payload (if any) to be moved along the path

int payloadConnectorID

the ID of the connector on the payload that should be connected to the tool's TCP

int alignPayload

indicates whether the payload's connector should be aligned to the tool's TCP before attaching it.

~genericPath(void)

destructor

virtual void getStartPoint(triple &t, quaternion &q) = 0

returns the pose of the first point on the path

virtual vector computeVel(double dt, quaternion* outputFrame = NULL) = 0

computes a velocity command for the end effector. If outputFrame is non-NULL, then the velocity will be transformed by it.

virtual void reset(void)

resets the path state

virtual int atStart(void)

returns 1 if the end effector has reached the first point on the path

virtual int done(void)

returns 1 if the end effector has reached the last point on the path

virtual double completion(void)

returns a number between 0 and 1 indicating the fraction of the the path that has been completed

virtual triple computeCrossTrackError(triple &pos) = 0

returns the current cross-track error of the given position

virtual triple computeOrientationError(quaternion &q) = 0

returns the current orientation error of the given orientation

Direct child classes:

path

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