CircularMotion< T > Class Template Reference

Class describing circular motions. More...

#include <Motion.hpp>

Inherits Motion< T >.

Public Types
typedef rw::core::Ptr< CircularMotion< T > >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< Target< T > >	TargetPtr
Public Types inherited from Motion< T >
typedef rw::core::Ptr< Motion< T > >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< Target< T > >	TargetPtr
Public Types inherited from MotionBase
typedef rw::core::Ptr< MotionBase >	Ptr
	smart pointer type to this class
Public Types inherited from Entity
typedef rw::core::Ptr< Entity >	Ptr
	smart pointer type to this class

Public Member Functions
	CircularMotion (TargetPtr start, TargetPtr mid, TargetPtr end)
	Construct a CircularMotion starting in start, going through mid and ending in end. More...
const T &	start ()
	Returns value of the start target. More...
const T &	mid ()
	Returns the value of the mid point target. More...
const T &	end ()
	Returns value of the end target. More...
TargetPtr	startTarget ()
	Returns the start target. More...
TargetPtr	midTarget ()
	Returns the mid point target. More...
TargetPtr	endTarget ()
	Returns the end target. More...
virtual rw::core::Ptr< Motion< T > >	clone (const std::vector< TargetPtr > &newTargets)
	Make a copy of the motion. More...
virtual void	reverse ()
	Do reverse motion. More...
Public Member Functions inherited from MotionBase
	MotionBase (MotionType motionType)
	Constructs motion. More...
virtual	~MotionBase ()
	Destructor.
MotionType	motionType ()
	Returns the type of the motion. More...
Public Member Functions inherited from Entity
	Entity (EntityType type, const std::string &id="")
	Constructs an Entity with a given type,. More...
virtual	~Entity ()
	Destructor.
rw::core::PropertyMap &	getPropertyMap ()
	Returns reference to rw::core::PropertyMap associated with the Entity. More...
const rw::core::PropertyMap &	getPropertyMap () const
	Returns reference to rw::core::PropertyMap associated with the Entity. More...
void	setPropertyMap (const rw::core::PropertyMap &propertymap)
	Sets the content of the propertymap. More...
int	getIndex () const
	Returns index specifying the position of the Entity in a Task. More...
void	setIndex (int index)
	Sets the order index of the Entity. More...
virtual EntityType	entityType () const
	Returns the type of Entity. More...
void	setId (const std::string &id)
	Set the id for the entity. More...
const std::string &	getId () const
	Get the id of the entity. More...
template<class T >
T	cast ()
	Method which can be used to explicitly and safely casting an Entity. More...

Additional Inherited Members
Protected Member Functions inherited from Motion< T >
	Motion (MotionType motion_type)
	Protected constructor.
Protected Attributes inherited from Entity
rw::core::PropertyMap	_properties
	Properties of entity.
EntityType	_entityType
	The type of entity.
int	_index
	The index of the entity.
std::string	_id
	The id of the entity.

Detailed Description

template<class T>
class rwlibs::task::CircularMotion< T >

Class describing circular motions.

Circular motions are generally defined in Cartesian space. It is the reponsibility of the user to decide how to interpolate the rotation.

Member Typedef Documentation

TargetPtr

typedef rw::core::Ptr<Target<T> > TargetPtr

Definition of target for convenience.

Constructor & Destructor Documentation

CircularMotion()

CircularMotion ( TargetPtr  start, TargetPtr  mid, TargetPtr  end  )

inline

Construct a CircularMotion starting in start, going through mid and ending in end.

Parameters

start	[in] motion start target.
mid	[in] target to reach somewhere between start and end.
end	[in] motion end target

Member Function Documentation

clone()

virtual rw::core::Ptr<Motion<T> > clone ( const std::vector< TargetPtr > &  newTargets )

inlinevirtual

Make a copy of the motion.

Parameters

newTargets

[in] a vector of targets.

Returns

new identical motion.

Implements Motion< T >.

end()

const T& end ( )

inlinevirtual

Returns value of the end target.

Returns

Reference to value of end target

Implements Motion< T >.

endTarget()

TargetPtr endTarget ( )

inlinevirtual

Returns the end target.

Returns

The start target

Implements Motion< T >.

mid()

const T& mid ( )

inline

Returns the value of the mid point target.

Returns

Value of target

midTarget()

TargetPtr midTarget ( )

inline

Returns the mid point target.

Returns

Mid point target

reverse()

virtual void reverse ( )

inlinevirtual

Do reverse motion.

Implements Motion< T >.

start()

const T& start ( )

inlinevirtual

Returns value of the start target.

Returns

Reference to value of start target

Implements Motion< T >.

startTarget()

TargetPtr startTarget ( )

inlinevirtual

Returns the start target.

Returns

The start target

Implements Motion< T >.

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

• Motion.hpp