TimeMetricUtil Class Reference

methods for analyzing time distance of various paths More...

#include <TimeMetricUtil.hpp>

Static Public Member Functions
static double	timeDistance (const rw::kinematics::State &from, const rw::kinematics::State &to, const rw::models::WorkCell &workcell)
	The time it takes to move from from to to in a straight line with maximum device velocities given by workcell. More...
static double	timeDistance (const rw::math::Q &from, const rw::math::Q &to, const rw::math::Q &velocity)
	The time it takes to move from from to to in a straight line with maximum velocities velocity. More...
static double	timeDistance (const rw::math::Q &from, const rw::math::Q &to, const rw::models::Device &device)
	The time it takes to move from from to to in a straight line with the maximum velocities given of device. More...
static double	timeDistance (const rw::kinematics::State &from, const rw::kinematics::State &to, const rw::models::Device &device)
	The time it takes to move from from to to in a straight line with the maximum velocities given of device. More...

Detailed Description

methods for analyzing time distance of various paths

Member Function Documentation

timeDistance() [1/4]

static double timeDistance ( const rw::kinematics::State &  from, const rw::kinematics::State &  to, const rw::models::Device &  device  )

static

The time it takes to move from from to to in a straight line with the maximum velocities given of device.

Parameters

from	[in] Start state
to	[in] End state
device	[in] The device to time for

Returns

The time

timeDistance() [2/4]

static double timeDistance ( const rw::kinematics::State &  from, const rw::kinematics::State &  to, const rw::models::WorkCell &  workcell  )

static

The time it takes to move from from to to in a straight line with maximum device velocities given by workcell.

Parameters

from	[in] Start state
to	[in] End state
workcell	[in] Workcell associated with the states

Returns

The time

timeDistance() [3/4]

static double timeDistance ( const rw::math::Q &  from, const rw::math::Q &  to, const rw::math::Q &  velocity  )

static

The time it takes to move from from to to in a straight line with maximum velocities velocity.

This is an example of a scaled max-norm.

Parameters

from	[in] Start configuration
to	[in] End configurationp
velocity	[in] Max velocity of the joints

Returns

The time

timeDistance() [4/4]

static double timeDistance ( const rw::math::Q &  from, const rw::math::Q &  to, const rw::models::Device &  device  )

static

The time it takes to move from from to to in a straight line with the maximum velocities given of device.

Parameters

from	[in] Start configuration
to	[in] End configuration
device	[in] The device to time for

Returns

The time

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

• TimeMetricUtil.hpp