RobWorkProject  24.5.15-
Public Types | Public Member Functions | List of all members
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< MotionBasePtr
 smart pointer type to this class
 
- Public Types inherited from Entity
typedef rw::core::Ptr< EntityPtr
 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::PropertyMapgetPropertyMap ()
 Returns reference to rw::core::PropertyMap associated with the Entity. More...
 
const rw::core::PropertyMapgetPropertyMap () 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 >
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

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 >.


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