base::ParametricTrajectoryRep Class Reference

Concrete trajectory representation as a set symbolic parametric equations for positions/orientation and time in terms of s in [0..1]. More...

Inheritance diagram for base::ParametricTrajectoryRep:

[legend]Collaboration diagram for base::ParametricTrajectoryRep:

[legend]List of all members.

Public Member Functions
	ParametricTrajectoryRep (const ExpressionVector &p)
virtual Object &	clone () const
virtual String	className () const
virtual Time	time (Real s) const
	get time at s:[0..1]
virtual void	shiftTime (const Time &dt)
	shift time by dt
virtual void	scaleTime (Real s)
	scale time by s
virtual Real	gets (const Time &t) const
	get parameter s value at time t
virtual void	serialize (Serializer &s)
	read or write object state to Serializer
virtual Point3	position (Real s) const
	get cartesian position at s:[0..1]
virtual Orient	orientation (Real s) const
	get orientation at s:[0..1]
virtual Real	distinguishedValue (Int i) const
virtual Int	numDistinguishedValues () const
	number of distinguished s values
virtual void	translate (const Vector3 &t)
	translate the path position by t
virtual void	rotate (const Quat4 &r)
	rotate the path orientation by r
virtual void	transform (const Matrix4 &m)
	transform the path by m
virtual void	scalePosition (Real s)
	scale position coords. by s
virtual bool	isSameKindAs (const ReferencedObject &) const
virtual bool	isSameKindAs (const Object &) const
void	reference () const
bool	unreference () const
const int	referenceCount () const
void	enableOnUnreferenceCall (bool enabled)
virtual void	onUnreference () const
Static Public Member Functions
template<class BaseClass, class DerivedClass> void	registerSerializableInstantiator (const SerializableInstantiator &instantiator)
void	registerSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName, const SerializableInstantiator &instantiator)
template<class BaseClass> const SerializableInstantiator &	getSerializableInstantiator (const String &derivedClassTypeName)
const SerializableInstantiator &	getSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName)
Protected Types
enum	Flags { None = 0, HasOrient = 1 }
Protected Member Functions
	ParametricTrajectoryRep ()
	ParametricTrajectoryRep (const ExpressionVector &v, const Expression &times, Int flags)
Real	eval (Real s) const
void	linearFit (Real &a, Real &b) const
	fits the line t = a*s + b to the expression in times
Protected Attributes
Expression	times
ExpressionVector	v
	parametric rep of path (symbolic expressions for x,y,z[,r,p,y | ,q0,q1,q2,w]) in terms of s in [0..1]
Int	flags
int	_refCount
bool	onUnreferenceEnabled
Friends
class	Trajectory
class	Serializable::SerializableDerivedInstantiator< ParametricTrajectoryRep >
class	Serializable::SerializableDerivedInstantiator< ParametricPathRep >

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Detailed Description

Concrete trajectory representation as a set symbolic parametric equations for positions/orientation and time in terms of s in [0..1].

Definition at line 37 of file ParametricTrajectoryRep.

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Member Enumeration Documentation

enum base::ParametricPathRep::Flags [protected, inherited]

Enumeration values: None  HasOrient  Definition at line 72 of file ParametricPathRep.

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Constructor & Destructor Documentation

base::ParametricTrajectoryRep::ParametricTrajectoryRep (  const ExpressionVector &  p  )

base::ParametricTrajectoryRep::ParametricTrajectoryRep (   )  [inline, protected]

Definition at line 62 of file ParametricTrajectoryRep. Referenced by clone().

base::ParametricTrajectoryRep::ParametricTrajectoryRep (  const ExpressionVector &  v, const Expression &  times, Int  flags )  [inline, protected]

Definition at line 63 of file ParametricTrajectoryRep. References base::ExpressionVector, and base::Int.

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Member Function Documentation

virtual String base::ParametricTrajectoryRep::className (   )  const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes. Reimplemented from base::ParametricPathRep. Definition at line 45 of file ParametricTrajectoryRep. References base::String.

virtual Object& base::ParametricTrajectoryRep::clone (   )  const [inline, virtual]

return a shallow copy, with Object& return type. Must be defined by derived classes. Reimplemented from base::ParametricPathRep. Definition at line 42 of file ParametricTrajectoryRep. References NewObj, ParametricTrajectoryRep(), and times.

virtual Real base::ParametricPathRep::distinguishedValue (  Int  i  )  const [virtual, inherited]

some values of s may correspond to distinguished points along a path. the values s=0 and s=1 are always distinguished values. For example, if the path was specified using waypoints, then there will be a distinguished value of s for each waypoint. 0 <= i < numDistinguishedValues() Reimplemented from base::PathRep.

void base::Referenced::enableOnUnreferenceCall (  bool  enabled  )  [inline, inherited]

If enabled, each call to unreference() will also call virtual method onUnreference() Definition at line 115 of file Referenced. References base::Referenced::onUnreferenceEnabled.

Real base::ParametricTrajectoryRep::eval (  Real  s  )  const [inline, protected]

Definition at line 67 of file ParametricTrajectoryRep. References base::Expression::evaluate(), base::Real, times, and base::Vector.

virtual Real base::ParametricTrajectoryRep::gets (  const Time &  t  )  const [virtual]

get parameter s value at time t Implements base::TrajectoryTimeRep.

const SerializableInstantiator& base::Serializable::getSerializableInstantiator (  const String &  baseClassTypeName, const String &  derivedClassTypeName )  [static, inherited]

template<class BaseClass> const SerializableInstantiator& base::Serializable::getSerializableInstantiator (  const String &  derivedClassTypeName  )  [inline, static, inherited]

Definition at line 71 of file Serializable. References base::String.

virtual bool base::Object::isSameKindAs (  const Object &   )  const [inline, virtual, inherited]

Definition at line 47 of file Object.

virtual bool base::ReferencedObject::isSameKindAs (  const ReferencedObject &   )  const [inline, virtual, inherited]

Definition at line 52 of file ReferencedObject.

void base::ParametricTrajectoryRep::linearFit (  Real &  a, Real &  b )  const [protected]

fits the line t = a*s + b to the expression in times

virtual Int base::ParametricPathRep::numDistinguishedValues (   )  const [virtual, inherited]

number of distinguished s values Reimplemented from base::PathRep.

virtual void base::Referenced::onUnreference (   )  const [inline, virtual, inherited]

Called by unreference() if enabled via enableOnUnreferenceCall(true). Typically overridden in subclasses that wish to know about unreference() calls - for example to handle manually breaking cyclic references Reimplemented in robot::control::ControllableAdaptor::AdaptorControlInterface, and robot::control::ControllableAdaptor. Definition at line 121 of file Referenced. Referenced by base::Referenced::unreference().

virtual Orient base::ParametricPathRep::orientation (  Real  s  )  const [virtual, inherited]

get orientation at s:[0..1] Implements base::PathRep.

virtual Point3 base::ParametricPathRep::position (  Real  s  )  const [virtual, inherited]

get cartesian position at s:[0..1] Implements base::PathRep.

void base::Referenced::reference (   )  const [inline, inherited]

Increment the reference count by one, indicating that this object has another pointer which is referencing it. Definition at line 65 of file Referenced. References base::Referenced::_refCount.

const int base::Referenced::referenceCount (   )  const [inline, inherited]

Return the number pointers currently referencing this object. Definition at line 112 of file Referenced. References base::Referenced::_refCount. Referenced by robot::control::ControllableAdaptor::AdaptorControlInterface::onUnreference().

void base::Serializable::registerSerializableInstantiator (  const String &  baseClassTypeName, const String &  derivedClassTypeName, const SerializableInstantiator &  instantiator )  [static, inherited]

template<class BaseClass, class DerivedClass> void base::Serializable::registerSerializableInstantiator (  const SerializableInstantiator &  instantiator  )  [inline, static, inherited]

Definition at line 62 of file Serializable.

virtual void base::ParametricPathRep::rotate (  const Quat4 &  r  )  [virtual, inherited]

rotate the path orientation by r Implements base::PathRep.

virtual void base::ParametricPathRep::scalePosition (  Real  s  )  [virtual, inherited]

scale position coords. by s Implements base::PathRep.

virtual void base::ParametricTrajectoryRep::scaleTime (  Real  s  )  [virtual]

scale time by s Implements base::TrajectoryTimeRep.

virtual void base::ParametricTrajectoryRep::serialize (  Serializer &  s  )  [virtual]

read or write object state to Serializer Reimplemented from base::ParametricPathRep.

virtual void base::ParametricTrajectoryRep::shiftTime (  const Time &  dt  )  [virtual]

shift time by dt Implements base::TrajectoryTimeRep.

virtual Time base::ParametricTrajectoryRep::time (  Real  s  )  const [virtual]

get time at s:[0..1] Implements base::TrajectoryTimeRep.

virtual void base::ParametricPathRep::transform (  const Matrix4 &  m  )  [virtual, inherited]

transform the path by m Implements base::PathRep.

virtual void base::ParametricPathRep::translate (  const Vector3 &  t  )  [virtual, inherited]

translate the path position by t Implements base::PathRep.

bool base::Referenced::unreference (   )  const [inline, inherited]

Decrement the reference count by one, indicating that a pointer to this object is referencing it. If the refence count goes to zero, it is assumed that this object is nolonger referenced and is automatically deleted. Definition at line 81 of file Referenced. References base::Referenced::_refCount, Exception, base::Referenced::onUnreference(), and base::Referenced::onUnreferenceEnabled.

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Friends And Related Function Documentation

friend class Serializable::SerializableDerivedInstantiator< ParametricPathRep > [friend, inherited]

Definition at line 81 of file ParametricPathRep.

friend class Serializable::SerializableDerivedInstantiator< ParametricTrajectoryRep > [friend]

Definition at line 72 of file ParametricTrajectoryRep.

friend class Trajectory [friend]

Reimplemented from base::ParametricPathRep. Definition at line 71 of file ParametricTrajectoryRep.

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Member Data Documentation

int base::Referenced::_refCount [mutable, protected, inherited]

Definition at line 136 of file Referenced. Referenced by base::Referenced::reference(), base::Referenced::referenceCount(), base::Referenced::Referenced(), base::Referenced::unreference(), and base::Referenced::~Referenced().

Int base::ParametricPathRep::flags [protected, inherited]

Definition at line 78 of file ParametricPathRep.

bool base::Referenced::onUnreferenceEnabled [protected, inherited]

Definition at line 137 of file Referenced. Referenced by base::Referenced::enableOnUnreferenceCall(), base::Referenced::Referenced(), and base::Referenced::unreference().

Expression base::ParametricTrajectoryRep::times [protected]

Definition at line 66 of file ParametricTrajectoryRep. Referenced by clone(), and eval().

ExpressionVector base::ParametricPathRep::v [protected, inherited]

parametric rep of path (symbolic expressions for x,y,z[,r,p,y | ,q0,q1,q2,w]) in terms of s in [0..1] Definition at line 76 of file ParametricPathRep.

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

• base/ParametricTrajectoryRep

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