kuon::KuonWheelTrajectoryPoint Class Reference

Wheel trajectory point class. More...

#include <kuonTraj.h>

Public Member Functions
	KuonWheelTrajectoryPoint ()
	Default constructor.
	KuonWheelTrajectoryPoint (const KuonWheelTrajectoryPoint &src)
	Copy constructor.
	~KuonWheelTrajectoryPoint ()
	Destructor.
KuonWheelTrajectoryPoint	operator= (const KuonWheelTrajectoryPoint &rhs)
	Assignment operator. More...
uint_t	getTimeFromStart ()
	Get time from start. More...
void	setTimeFromStart (uint_t uTimeFromStart)
	Set time from start. More...
size_t	getNumPoints ()
	Get the number of wheel points in trajectory. More...
void	append (const std::string &strName, double fPosition, double fVelocity, double fAcceleration=0.0)
	Append wheel point to end of trajectory. More...
KuonWheelTraj &	operator[] (const size_t i)
	Subscript operator to get reference to wheel point at the given index. More...
void	clear ()
	Clear data.

Protected Attributes
std::vector< KuonWheelTraj >	m_trajectory
	trajectory
uint_t	m_uTimeFromStart
	duration

Detailed Description

Wheel trajectory point class.

A wheel trajectory point (T0, T1, ..., Tn-1) specifies the goal position, velocity, and acceleration for a set of wheels (chain) Ti, i=0,n-1.

Definition at line 186 of file kuonTraj.h.

Member Function Documentation

void kuon::KuonWheelTrajectoryPoint::append ( const std::string &  strName, double  fPosition, double  fVelocity, double  fAcceleration = 0.0  )

inline

Append wheel point to end of trajectory.

Parameters

strName	Wheel name.
fPosition	Wheel position.
fVelocity	Wheel velocity.
fAcceleration	Wheel acceleration.

Definition at line 270 of file kuonTraj.h.

    {
      KuonWheelTraj jointPoint(strName, fPosition, fVelocity, fAcceleration);
      m_trajectory.push_back(jointPoint);
    }

size_t kuon::KuonWheelTrajectoryPoint::getNumPoints ( )

inline

Get the number of wheel points in trajectory.

Returns

Number of points.

Definition at line 257 of file kuonTraj.h.

    {
      return m_trajectory.size();
    }

uint_t kuon::KuonWheelTrajectoryPoint::getTimeFromStart ( )

inline

Get time from start.

Todo:

TODO need to understand ROS meaning of this.

Returns

Duration.

Definition at line 235 of file kuonTraj.h.

    {
      return m_uTimeFromStart;
    }

KuonWheelTrajectoryPoint kuon::KuonWheelTrajectoryPoint::operator= ( const KuonWheelTrajectoryPoint &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 220 of file kuonTraj.h.

References m_trajectory, and m_uTimeFromStart.

    {
      m_uTimeFromStart  = rhs.m_uTimeFromStart;
      m_trajectory      = rhs.m_trajectory;

      return *this;
    }

KuonWheelTraj& kuon::KuonWheelTrajectoryPoint::operator[] ( const size_t  i )

inline

Subscript operator to get reference to wheel point at the given index.

Big boy warranty. No out of bound checks are made.

Parameters

i

Index.

Returns

Wheel point.

Definition at line 289 of file kuonTraj.h.

    {
      return m_trajectory[i];
    }

void kuon::KuonWheelTrajectoryPoint::setTimeFromStart ( uint_t  uTimeFromStart )

inline

Set time from start.

Todo:

TODO need to understand ROS meaning of this.

Parameters

uTimeFromStart

Duration.

Definition at line 247 of file kuonTraj.h.

    {
      m_uTimeFromStart = uTimeFromStart;
    }

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

• include/Kuon/kuonTraj.h