Saba::CSpacePath Class Reference

A path in c-space. More...

Inheritance diagram for Saba::CSpacePath:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CSpacePath (CSpacePtr cspace, const std::string &name="")
	~CSpacePath () override
	Destructor. More...
CSpacePathPtr	clone () const
CSpacePathPtr	createSubPath (unsigned int startIndex, unsigned int endIndex) const
float	getLength () const override
float	getLength (bool useCSpaceWeights) const
float	getLength (unsigned int startIndex, unsigned int endIndex, bool useCSpaceWeights=true) const
void	interpolate (float t, Eigen::VectorXf &storePos, int *storeIndex=NULL) const override
virtual float	getTime (unsigned int nr)
	return time t (0<=t<=1) for path entry with number nr More...
CSpacePtr	getCSpace ()
std::vector< Eigen::Matrix4f >	createWorkspacePath (VirtualRobot::RobotNodePtr r=VirtualRobot::RobotNodePtr())
Public Member Functions inherited from VirtualRobot::Trajectory
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Trajectory (RobotNodeSetPtr rns, const std::string &name="")
virtual	~Trajectory ()
const std::vector< Eigen::VectorXf > &	getPoints () const
void	addPoint (const Eigen::VectorXf &c)
Eigen::VectorXf	getPoint (unsigned int nr) const
unsigned int	getNrOfPoints () const
	return total number of trajectory points More...
bool	getPoints (unsigned int start, unsigned int end, std::vector< Eigen::VectorXf > &storePosList) const
	to retrieve entries of trajectory More...
TrajectoryPtr	clone () const
TrajectoryPtr	createSubPath (unsigned int startIndex, unsigned int endIndex) const
virtual void	reset ()
	reset all data More...
virtual void	reverse ()
	reverse position order: end becomes start More...
virtual void	erasePosition (unsigned int pos)
virtual unsigned int	removePositions (unsigned int startPos, unsigned int endPos)
virtual void	insertPosition (unsigned int pos, const Eigen::VectorXf &c)
virtual void	insertPosition (unsigned int pos, std::vector< Eigen::VectorXf > &newConfigurations)
virtual void	insertTrajectory (unsigned int pos, TrajectoryPtr trajectoryToInsert)
unsigned int	getDimension () const
virtual void	print () const
	prints trajectory contents to console More...
const std::vector< Eigen::VectorXf > &	getData () const
	For quick access to data. More...
Eigen::VectorXf &	getPointRef (unsigned int pos)
VirtualRobot::RobotNodeSetPtr	getRobotNodeSet ()
std::vector< Eigen::Matrix4f >	createWorkspaceTrajectory (VirtualRobot::RobotNodePtr r=VirtualRobot::RobotNodePtr())
virtual std::string	toXML (int tabs=0) const
std::string	getName () const
std::string	getRobotName () const
VisualizationNodePtr	getVisualization (std::string visualizationFactoryName="")

Protected Attributes
CSpacePtr	cspace
Protected Attributes inherited from VirtualRobot::Trajectory
std::vector< Eigen::VectorXf >	path
	vector with configurations which represent the path More...
RobotNodeSetPtr	rns
std::string	name
unsigned int	dimension
	dimension of rns More...

Detailed Description

A path in c-space.

Constructor & Destructor Documentation

CSpacePath()

Saba::CSpacePath::CSpacePath	(	CSpacePtr	cspace,
		const std::string &	name = ""
	)

Constructor. Dimension of this path is retrieved from cspace.

Parameters

cspace	Is used to retrieve the dimension of the corresponding c-space and the corresponding joints
name	An optional string, identifying this path.

~CSpacePath()

Saba::CSpacePath::~CSpacePath ( )

override

Destructor.

Member Function Documentation

clone()

CSpacePathPtr Saba::CSpacePath::clone

(

)

const

Creates a copy of the path instance.

Returns

pointer to new instance (copy)

createSubPath()

CSpacePathPtr Saba::CSpacePath::createSubPath	(	unsigned int	startIndex,
		unsigned int	endIndex
	)		const

createWorkspacePath()

std::vector< Eigen::Matrix4f > Saba::CSpacePath::createWorkspacePath

(

VirtualRobot::RobotNodePtr

r = VirtualRobot::RobotNodePtr()

)

getCSpace()

Saba::CSpacePtr Saba::CSpacePath::getCSpace

(

)

getLength() [1/3]

float Saba::CSpacePath::getLength ( ) const

overridevirtual

Return euclidean c-space length of complete path. Any weights that may be defined in the corresponding c-space are considered.

Reimplemented from VirtualRobot::Trajectory.

getLength() [2/3]

float Saba::CSpacePath::getLength

(

bool

useCSpaceWeights

)

const

Return euclidean c-space length of complete path

Parameters

useCSpaceWeights

When set, the weight that might have been specified in the corresponding c-space are used for computing the path length.

getLength() [3/3]

float Saba::CSpacePath::getLength	(	unsigned int	startIndex,
		unsigned int	endIndex,
		bool	useCSpaceWeights = true
	)		const

Return length of part of the path (in CSpace!)

Parameters

startIndex	The start point
endIndex	The end point
useCSpaceWeights	When set, the weights that have been specified in the corresponding c-space are used for computing the path length.

getTime()

float Saba::CSpacePath::getTime ( unsigned int  nr )

virtual

return time t (0<=t<=1) for path entry with number nr

interpolate()

void Saba::CSpacePath::interpolate ( float  t, Eigen::VectorXf &  storePos, int *  storeIndex = NULL  ) const

overridevirtual

return position on path for time t (0<=t<=1) If storeIndex!=NULL the index of the last path point is stored. This method consideres weighting of c-space dimensions!

Reimplemented from VirtualRobot::Trajectory.

Field Documentation

cspace

CSpacePtr Saba::CSpacePath::cspace

protected