PathAnalyzer Class Reference

The PathAnalyzer provides a set a basic tools for analyzing a path. More...

#include <PathAnalyzer.hpp>

Classes
struct	CartesianAnalysis
	Result struct for Cartesian analysis. More...
struct	ClearanceAnalysis
	Result struct for CleracenAnalysis. More...
struct	JointSpaceAnalysis
	Result struct for joint space analysis. More...
struct	TimeAnalysis
	Result struct for Time analysis. More...

Public Types
typedef rw::core::Ptr< PathAnalyzer >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const PathAnalyzer >	CPtr
	smart pointer type to this const class

Public Member Functions
	PathAnalyzer (const rw::core::Ptr< const rw::models::Device > &device, const rw::kinematics::State &state)
	Construct PathAnalyzer for a specific device. More...
virtual	~PathAnalyzer ()
	Destructor.
JointSpaceAnalysis	analyzeJointSpace (const rw::trajectory::QPath &path, rw::math::QMetric::Ptr metric=NULL) const
	Performs joint space analysis of path. More...
CartesianAnalysis	analyzeCartesian (const rw::trajectory::QPath &path, const rw::core::Ptr< rw::kinematics::Frame > frame)
	Performs analysis in Cartesian space. More...
TimeAnalysis	analyzeTime (const rw::trajectory::QPath &path) const
	Peforms analysis of the time. More...
ClearanceAnalysis	analyzeClearance (const rw::trajectory::QPath &path, const rw::core::Ptr< const rw::proximity::DistanceCalculator > &distanceCalculator)
	Performs an analysis of the clearance. More...

Static Public Member Functions
template<class It >
static double	pathLength (It begin, It end, const rw::math::Metric< typename It::value_type > &metric)
	The length of the path from begin up to and excluding end. This method will in a new version be moved to a collection of tools for path statistic. More...

Detailed Description

The PathAnalyzer provides a set a basic tools for analyzing a path.

Features in the PathAnalyzer include analysis of joint space, Cartesian space, estimation of execution time and measures for clearance. See more details in the result structs PathAnalyzer::JointSpaceAnalysis, PathAnalyzer::CartesianAnalysis, PathAnalyzer::TimeAnalysis and PathAnalyzer::ClearanceAnalysis.

Constructor & Destructor Documentation

PathAnalyzer()

PathAnalyzer	(	const rw::core::Ptr< const rw::models::Device > &	device,
		const rw::kinematics::State &	state
	)

Construct PathAnalyzer for a specific device.

Parameters

device	[in] Device to be associated with the path
state	[in] State of the workcell

Member Function Documentation

analyzeCartesian()

CartesianAnalysis analyzeCartesian	(	const rw::trajectory::QPath &	path,
		const rw::core::Ptr< rw::kinematics::Frame >	frame
	)

Performs analysis in Cartesian space.

The method calculates the Cartesian distance travelled by the speficied frame. It provides the total distance travelled, the coordinate wise distances, and upper and lower bounds on the location of the frame during the path.

Parameters

path	[in] Path to analyze
frame	[in] Frame for which to analyze the path.

Returns

Result of the analysis.

analyzeClearance()

ClearanceAnalysis analyzeClearance	(	const rw::trajectory::QPath &	path,
		const rw::core::Ptr< const rw::proximity::DistanceCalculator > &	distanceCalculator
	)

Performs an analysis of the clearance.

Calculates the average and minimum clearance along a path. Only the nodes of the path are sampled. The path should therefore be divided with the desired resolution before invoking this method.

Parameters

path	[in] Path to analyze
distanceCalculator	[in] DistanceCalculator to be used in the analysis

Returns

Result of the analysis.

analyzeJointSpace()

JointSpaceAnalysis analyzeJointSpace	(	const rw::trajectory::QPath &	path,
		rw::math::QMetric::Ptr	metric = NULL
	)		const

Performs joint space analysis of path.

Parameters

path	[in] Path to analyze
metric	[in] Metric to use for calculating the distance in joint space.

Returns

Result of the joint space analysis

analyzeTime()

TimeAnalysis analyzeTime

(

const rw::trajectory::QPath &

path

)

const

Peforms analysis of the time.

Calculates the time needed to execute the path when considering the dynamics.

Parameters

path	[in] Path to analyze.

pathLength()

static double pathLength ( It  begin, It  end, const rw::math::Metric< typename It::value_type > &  metric  )

inlinestatic

The length of the path from begin up to and excluding end. This method will in a new version be moved to a collection of tools for path statistic.

If the range [begin, end) is of length 0 or 1 then a length of 0 is returned.

Note that the element pointed to by end is not included in the path and need not exist.

The distance between adjacent element is measured by metric.

---

The documentation for this class was generated from the following file:

• PathAnalyzer.hpp