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