This class defines linear curvature elementary paths, for which the curvature derivative (with respect to the arc length) is constant. More...

#include <LinCurvPath.hpp>

Inheritance diagram for iSeeML::rob::LinCurvPath:

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Collaboration diagram for iSeeML::rob::LinCurvPath:

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Public Member Functions
	LinCurvPath ()
	The default constructor should only be used for array initializations: it generates a path starting from default configuration, with constant curvature and zero length. More...

	LinCurvPath (const iSeeML::rob::CurvConfig &start, const double &sharpness=0, const double &length=0)
	The main constructor. More...

const iSeeML::rob::CurvConfig &	start () const
	Description method, giving the path's starting configuration. More...

const iSeeML::rob::CurvConfig &	end () const
	Description method, giving the path's final configuration (as a configuration for mobile robot with curvature). More...

const double &	sharpness () const
	Description method, giving the path's constant curvature derivative with respect to the arc length. More...

double	length () const
	Description method, giving the path's length. More...

double	deflection () const
	Description method, giving the path's deflection (change of orientation). More...

iSeeML::Object &	clone () const
	Description method, giving a copy of the current linear curvature path. More...

void	writeTo (ostream &O) const
	Description method, writing a description of the path in a given output stream. More...

iSeeML::rob::CurvConfig	operator[] (const double &s) const
	Description method, giving a configuration at a given arc length along the path. More...

Public Member Functions inherited from iSeeML::rob::Path
bool	operator< (const Path &other) const
	Order operator, defining an order relation on the paths' set, based on the path's length. More...

Public Member Functions inherited from iSeeML::Object
virtual	~Object ()
	This virtual class needs a virtual destructor.

virtual const string	className () const
	Description method, giving the object's class name. More...

bool	sameClass (const iSeeML::Object &other)
	Method verifying that a given object has the same type (same class name) than the current one. More...

Static Public Attributes
static const string	ClassName
	The class name is public, as this class can be instanced. More...

Additional Inherited Members
Static Public Member Functions inherited from iSeeML::Object
template<class T >
static const T &	min (const T &a, const T &b)
	Method giving the minimum of two elements. More...

template<class T >
static const T &	max (const T &a, const T &b)
	Method giving the maximum of two elements. More...

static double	sqr (const double &x)
	Method giving the square of a double. More...

static double	mod2pi (const double &theta)
	Method giving the angle between - $\pi$ (excluded) and $\pi$ (included), which is equal to a given angle modulo 2 $\pi$ . More...

static double	rad2deg (const double &theta)
	Method transforming an angle in radian, $x \pi$ with between -1 (excluded) and 1 (included), into its equivalent in degree, i.e. More...

static double	deg2rad (const double &theta)
	Method transforming an angle in degree, with between -1 (excluded) and 1 (included), into its equivalent in radian, i.e. More...

static bool	isPositive (const double &x)
	Method telling whether a double is strictly positive. More...

static bool	isNegative (const double &x)
	Method telling whether a double is strictly negative. More...

static bool	isZero (const double &x)
	Method comparing a double to zero. More...

static int	sign (const double &x)
	Method giving the sign of a double. More...

Protected Member Functions inherited from iSeeML::Object
virtual int	algDimension () const
	Description method for algebraic vectors, giving the dimension of the containing space (default is zero). More...

virtual double	algCoord (const int) const
	Description method for algebraic vectors, giving coordinate of given index for this vector. More...

virtual void	algWriteTo (ostream &O) const
	Description method for algebraic vectors, writing this vector in a given output stream: coordinates for each dimension are written, between paranthesis and separated by commas. More...

Related Functions inherited from iSeeML::Object
ostream &	operator<< (ostream &O, const iSeeML::Object &o)
	Modification method, writing a description of a ISeeML object in a given output stream. More...

Detailed Description

This class defines linear curvature elementary paths, for which the curvature derivative (with respect to the arc length) is constant.

These are the only elementary paths of ISeeML, the other paths being made of paths of this kind (they are compound paths).

Author: Alexis Scheuer.

Version: 1.0

Examples:: wxGuiFwd.cpp.

Constructor & Destructor Documentation

iSeeML::rob::LinCurvPath::LinCurvPath ( )

inline

The default constructor should only be used for array initializations: it generates a path starting from default configuration, with constant curvature and zero length.

See also: default constructor of iSeeML::rob::CurvConfig.

iSeeML::rob::LinCurvPath::LinCurvPath	(	const iSeeML::rob::CurvConfig &	start,
		const double &	sharpness = `0`,
		const double &	length = `0`
	)

inline

The main constructor.

Parameters

start	the starting configuration,
sharpness	the constant curvature derivative with respect to the arc length (default value is zero),
length	the length of the path (default value is zero).

See also: operator[].

Member Function Documentation

iSeeML::Object& iSeeML::rob::LinCurvPath::clone ( ) const

inlinevirtual

Description method, giving a copy of the current linear curvature path.

This clone is dynamically allocated (using default copy constructor), it has to be deleted later.

Returns: a copy/clone of the current linear curvature path.

Implements iSeeML::Object.

double iSeeML::rob::LinCurvPath::deflection ( ) const

inlinevirtual

Description method, giving the path's deflection (change of orientation).

Returns: the path's deflection.

Implements iSeeML::rob::Path.

const iSeeML::rob::CurvConfig& iSeeML::rob::LinCurvPath::end ( ) const

inlinevirtual

Description method, giving the path's final configuration (as a configuration for mobile robot with curvature).

Returns: the path's final configuration.

Implements iSeeML::rob::Path.

Examples:: wxGuiFwd.cpp.

double iSeeML::rob::LinCurvPath::length ( ) const

inlinevirtual

Description method, giving the path's length.

Returns: the path's length.

Implements iSeeML::rob::Path.

Examples:: wxGuiFwd.cpp.

iSeeML::rob::CurvConfig iSeeML::rob::LinCurvPath::operator[] ( const double & s ) const

virtual

Description method, giving a configuration at a given arc length along the path.

Parameters

s	the arc length.

Precondition: the given arc length should be positive and less than the path's length. If this is not true, an error message is generated if ISEEML_CHECK_LIN_PATH_PRECOND is defined, and the arc length is considered as zero if smaller and as path's length if bigger, if ISEEML_CHECK_ARRAY_ELEMT is defined (see CompilerFlags.h).

Returns: the configuration at given arc length along the path.

Implements iSeeML::rob::Path.

const double& iSeeML::rob::LinCurvPath::sharpness ( ) const

inline

Description method, giving the path's constant curvature derivative with respect to the arc length.

Returns: the path's curvature derivative.

Examples:: wxGuiFwd.cpp.

const iSeeML::rob::CurvConfig& iSeeML::rob::LinCurvPath::start ( ) const

inlinevirtual

Description method, giving the path's starting configuration.

(as a configuration for mobile robot with curvature).

Returns: the path's starting configuration.

Implements iSeeML::rob::Path.

Examples:: wxGuiFwd.cpp.

void iSeeML::rob::LinCurvPath::writeTo ( ostream & O ) const

inlinevirtual

Description method, writing a description of the path in a given output stream.

The starting configuration is given, then the path parameters (sharpness and length) between braces, then the final configuration, the whole between brackets.

Parameters

O	the output stream in which description is written.

Implements iSeeML::Object.

Member Data Documentation

const string iSeeML::rob::LinCurvPath::ClassName

static

The class name is public, as this class can be instanced.

See also: className.

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

/home/ajs/Loria/Local/Compte/Recherche/Prog/C++/ISeeML/include/iSeeML/rob/LinCurvPath.hpp

Public Member Functions

Static Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation