class relativePath

a class for paths that are defined relative to a link rather than in world coordinates.

Inheritance:

Public Fields

link* l

the link whose coordinates the path is defined in

payload* relPayload

the payload (if any) whose coordiates the path is defined in.

const char* relativePayloadLabel

the label of the payload (if any) to use for relPayload

triple btoolForce

body-space force to apply along the path, if useApplidForce is 1

triple btoolTorque

body-space torque to apply along the path, if useApplidForce is 1

int computeLinkPath

if 1, indicates that the velocity commands generated by computeVel should be modified so that l's COM follows a straight-line trajectory.

Public Methods

relativePath(void)

constructor

~relativePath(void)

destructor

Inherited from path:

Public Fields

int np

int currentPt

int targetPt

double targetDist

int useSameTol

double* tol

double* vTol

double* angleTol

double vel

double omega

double maxAcc

double maxOmegaDot

triple* waypt

quaternion* orientation

int* stopAtPoint

Public Methods

virtual int setVariables(const ptrList* taskParams)

virtual int getTargetPoint(const triple &pos, const quaternion &q, triple &targetPos, quaternion &targetQ)

virtual void getPoint(int i, triple &pos, quaternion &q)

virtual void modifyEndpointPoseAndPath(triple &pos, quaternion &q, triple &tpos, quaternion &tq)

virtual void modifyVelocityCommand(triple &v, triple &omega)

virtual void setNumPoints(int n, int useSameTol)

Inherited from genericPath:

Public Fields

int pathNum

int endPtNum

int reachedStart

int reachedEnd

int usePayload

payload* pl

int useAppliedForce

triple toolForce

triple toolTorque

endPointRec* endPt

const char* payloadLabel

int payloadConnectorID

int alignPayload

Public Methods

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

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

virtual void reset(void)

virtual int atStart(void)

virtual int done(void)

virtual double completion(void)

virtual triple computeCrossTrackError(triple &pos)

virtual triple computeOrientationError(quaternion &q)

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 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 class for paths that are defined relative to a link rather than in world coordinates. The link can either be part of a robot or a payload.

File variables

• char relativePayloadLabel[] - (optional) Specifies the label of the payload which the path is relative to. If this is not supplied, then it is assumed that the d2kSimulator or another d2kComponent will properly set l.
• int computeLinkPath = 0(optional)

Also see genericPath documentation for other variables. See the member documentation for more information on these variables.

link* l

the link whose coordinates the path is defined in

payload* relPayload

the payload (if any) whose coordiates the path is defined in. l is set to relPayload->l when relPayload is non-NULL.

const char* relativePayloadLabel

the label of the payload (if any) to use for relPayload

triple btoolForce

body-space force to apply along the path, if useApplidForce is 1

triple btoolTorque

body-space torque to apply along the path, if useApplidForce is 1

int computeLinkPath

if 1, indicates that the velocity commands generated by computeVel should be modified so that l's COM follows a straight-line trajectory. Defaults to 0.

relativePath(void)

constructor

~relativePath(void)

destructor

This class has no child classes.

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