In file /home/blah/darwin2k/src/d2k/ctrl/path.h:

class relativePath

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

Inheritance:


Public Fields

[more]link* l
the link whose coordinates the path is defined in
[more]payload* relPayload
the payload (if any) whose coordiates the path is defined in.
[more]const char* relativePayloadLabel
the label of the payload (if any) to use for relPayload
[more]triple btoolForce
body-space force to apply along the path, if useApplidForce is 1
[more]triple btoolTorque
body-space torque to apply along the path, if useApplidForce is 1
[more]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

[more] relativePath(void)
constructor
[more] ~relativePath(void)
destructor


Inherited from path:

Public Fields

oint np
oint currentPt
oint targetPt
odouble targetDist
oint useSameTol
odouble* tol
odouble* vTol
odouble* angleTol
odouble vel
odouble omega
odouble maxAcc
odouble maxOmegaDot
otriple* waypt
oquaternion* orientation
oint* stopAtPoint

Public Methods

ovirtual int setVariables(const ptrList* taskParams)
ovirtual int getTargetPoint(const triple &pos, const quaternion &q, triple &targetPos, quaternion &targetQ)
ovirtual void getPoint(int i, triple &pos, quaternion &q)
ovirtual void modifyEndpointPoseAndPath(triple &pos, quaternion &q, triple &tpos, quaternion &tq)
ovirtual void modifyVelocityCommand(triple &v, triple &omega)
ovirtual void setNumPoints(int n, int useSameTol)


Inherited from genericPath:

Public Fields

oint pathNum
oint endPtNum
oint reachedStart
oint reachedEnd
oint usePayload
opayload* pl
oint useAppliedForce
otriple toolForce
otriple toolTorque
oendPointRec* endPt
oconst char* payloadLabel
oint payloadConnectorID
oint alignPayload

Public Methods

ovirtual void getStartPoint(triple &t, quaternion &q)
ovirtual vector computeVel(double dt, quaternion* outputFrame = NULL)
ovirtual void reset(void)
ovirtual int atStart(void)
ovirtual int done(void)
ovirtual double completion(void)
ovirtual triple computeCrossTrackError(triple &pos)
ovirtual triple computeOrientationError(quaternion &q)


Inherited from d2kComponent:

Public Fields

od2kSimulator* sim
oconfiguration* cfg
oconst char* label
oint active

Public Methods

ovirtual int minCfgs(void) const
ovirtual int maxCfgs(void) const
ovirtual const char* getCfgName(int i)
ovirtual int readParams(paramParser* parser)
ovirtual int simInit(d2kSimulator* Sim)
ovirtual int init(ptrList* Cfgs)
ovirtual int forceCfgResolution(void)
ovirtual int cleanup(void)
ovirtual int update(int &violated)
ovirtual const cfgLabelRecord* getLabelRec(int i) const


Inherited from synObject:

Public Fields

ostatic int staticClassID
oint objectID
oint verboseLevel

Public Methods

ovirtual const char* className(void) const
ovirtual synObject* copy(void) const
ovirtual int isOfType(int typeNum, int derivedOk)
ostatic int setStaticClassID(void)
ovirtual 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

Also see genericPath documentation for other variables. See the member documentation for more information on these variables.
olink* l
the link whose coordinates the path is defined in

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

oconst char* relativePayloadLabel
the label of the payload (if any) to use for relPayload

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

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

oint 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.

o relativePath(void)
constructor

o ~relativePath(void)
destructor


This class has no child classes.

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