base::Path Class Reference

Inheritance diagram for base::Path:

[legend]Collaboration diagram for base::Path:

[legend]List of all members.

Public Types
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	Path ()
	default path - all points are 0
	Path (const Path &p)
	copy path p
	Path (const Point3 &sp, const Orient &so, const Point3 &ep, const Orient &eo)
	simple line segment start[position|orientation] - end[position|orientation]
	Path (const array< Point3 > &points, const array< Orient > &orients=array< Orient >(), bool deltas=false)
	Path (const array< Vector > &points, bool deltas=false)
	Path (const ExpressionVector &p)
	arbitrary path defined by symbolic expressions for x,y,z,qx,qy,qz,qw in terms of s
virtual String	className () const
Point3	position (Real s) const
	get cartesian position at s:[0..1]
Orient	orientation (Real s) const
	get orientation at s:[0..1]
void	resample (Int samples=100)
	discard distinguished points and replace them by 'samples' distingushed points over s=[0..1]
void	resample (const Real dxmax)
	add distinguished points as necessary to ensure that distance between the positions of any pair of distinguished points is <= dxmax
const String &	getCoordFrame () const
void	setCoordFrame (const String &coordFrame)
	set application defined coordinate frame specifier.
const String &	getUnits () const
void	setUnits (const String &unitSpecifier)
	set application defined unit specifier.
Real	distinguishedValue (Int i) const
Int	numDistinguishedValues () const
	< number of distinguished s values
void	translate (const Vector3 &t)
	translate the path position by t
void	rotate (const Quat4 &r)
	rotate the path orientation by r
void	transform (const Matrix4 &m)
	transform the path by m
void	scalePosition (Real s)
	scale position coords. by s
virtual void	serialize (Serializer &s)
	read or write object state to Serializer
virtual bool	formatSupported (String format, Real version=1.0, ExternalizationType type=IO) const
	query if specific format is supported (for input, output or both)
virtual void	externalize (Externalizer &e, String format="", Real version=1.0)
	read or write object state to Externalizer
virtual bool	isSameKindAs (const Object &) const
virtual void	externalize (Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
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 Member Functions
virtual void	create ()
virtual void	create (const Path &p)
virtual void	create (const Point3 &sp, const Orient &so, const Point3 &ep, const Orient &eo)
virtual void	create (const array< Point3 > &points, const array< Orient > &orients, bool deltas)
virtual void	create (const array< Vector > &points, bool deltas)
virtual void	create (const ExpressionVector &p)
void	init (const array< Point3 > &points, const array< Orient > &orients, bool deltas)
Protected Attributes
ref< PathRep >	rep
	representation
String	frame
	application defined coord. frame specifier
String	units
	application defined unit specifier
Serializable::SerializableDerivedInstantiator< LineSegPathRep >	lineSegPathRepInstantiator
Serializable::SerializableDerivedInstantiator< WaypointPathRep >	waypointPathRepInstantiator
Friends
class	Trajectory

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Detailed Description

A Path specifies a bounded inifinite number of continous points in 6-space (cartesian position via Point3 and orientation via Orient). The points are expressed parametrically in terms of s:[0..1] over the path length.

Definition at line 50 of file Path.

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Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values: Input  Output  IO  Definition at line 40 of file Externalizable.

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Constructor & Destructor Documentation

base::Path::Path (   )

default path - all points are 0

base::Path::Path (  const Path &  p  )

copy path p

base::Path::Path (  const Point3 &  sp, const Orient &  so, const Point3 &  ep, const Orient &  eo )

simple line segment start[position|orientation] - end[position|orientation]

base::Path::Path (  const array< Point3 > &  points, const array< Orient > &  orients = array< Orient >(), bool  deltas = false )

a set of 'waypoints' - actually points and their corresponding orientations. if deltas is true, the arrays are considered to specify the inter-waypoint deltas instead (with the first point/orient being 0)

base::Path::Path (  const array< Vector > &  points, bool  deltas = false )

a set of 'waypoints'. If vector dim is 3, specifies position only; dim 6, specifies position and orientation using the EulerRPY (roll, pitch, yaw) convention; dim 7 specifies position and orientation as a quaternion qx,qy,qz,qw. if deltas is true, the arrays are considered to specify the inter-waypoint deltas instead (with the first point/orient being 0)

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

arbitrary path defined by symbolic expressions for x,y,z,qx,qy,qz,qw in terms of s

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Member Function Documentation

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

return the name of the object's class type. Must be defined by derived classes. Implements base::Object. Reimplemented in base::Trajectory, and gfx::VisualPath. Definition at line 78 of file Path. References base::String.

virtual void base::Path::create (  const ExpressionVector &  p  )  [protected, virtual]

Reimplemented in base::Trajectory.

virtual void base::Path::create (  const array< Vector > &  points, bool  deltas )  [protected, virtual]

Reimplemented in base::Trajectory.

virtual void base::Path::create (  const array< Point3 > &  points, const array< Orient > &  orients, bool  deltas )  [protected, virtual]

Reimplemented in base::Trajectory.

virtual void base::Path::create (  const Point3 &  sp, const Orient &  so, const Point3 &  ep, const Orient &  eo )  [protected, virtual]

Reimplemented in base::Trajectory.

virtual void base::Path::create (  const Path &  p  )  [protected, virtual]

virtual void base::Path::create (   )  [protected, virtual]

Reimplemented in base::Trajectory.

Real base::Path::distinguishedValue (  Int  i  )  const [inline]

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() Definition at line 114 of file Path. References base::Int, and base::Real.

virtual void base::Externalizable::externalize (  Externalizer &  e, String  format = "", Real  version = 1.0 )  const [virtual, inherited]

write object state to Externalizer (throws if e is in Input) Reimplemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::PlatformDescription, robot::RobotDescription, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, and robot::ToolDescription.

virtual void base::Path::externalize (  Externalizer &  e, String  format = "", Real  version = 1.0 )  [virtual]

read or write object state to Externalizer Implements base::Externalizable. Reimplemented in base::Trajectory.

virtual bool base::Path::formatSupported (  String  format, Real  version = 1.0, ExternalizationType  type = IO )  const [virtual]

query if specific format is supported (for input, output or both) Implements base::Externalizable. Reimplemented in base::Trajectory.

const String& base::Path::getCoordFrame (   )  const [inline]

get application defined coordinate frame specifier. Some means of creating a Path provide a coordinate frame specifier. e.g. xml externalization this returns that string (or whatever was set via setCoordFrame() - defaults to the empty String) Definition at line 95 of file Path. References frame, and base::String.

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.

const String& base::Path::getUnits (   )  const [inline]

get application defined unit specifier. Some means of creating a Path provide unit specifier. e.g. xml externalization this returns that string (or whatever was set via setUnits() - defaults to the empty String) Definition at line 104 of file Path. References base::String, and units.

void base::Path::init (  const array< Point3 > &  points, const array< Orient > &  orients, bool  deltas )  [protected]

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

Definition at line 47 of file Object.

void base::Externalizable::load (  ref< VFile >  archive, const String &  format = "", Real  version = 1.0 )  [inherited]

Int base::Path::numDistinguishedValues (   )  const [inline]

< number of distinguished s values Definition at line 116 of file Path. References base::Int.

Orient base::Path::orientation (  Real  s  )  const [inline]

get orientation at s:[0..1] Definition at line 84 of file Path. References base::Real.

Point3 base::Path::position (  Real  s  )  const [inline]

get cartesian position at s:[0..1] Definition at line 81 of file Path. References base::Point3, and base::Real.

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.

void base::Path::resample (  const Real  dxmax  )

add distinguished points as necessary to ensure that distance between the positions of any pair of distinguished points is <= dxmax Reimplemented in base::Trajectory.

void base::Path::resample (  Int  samples = 100  )

discard distinguished points and replace them by 'samples' distingushed points over s=[0..1] Reimplemented in base::Trajectory.

void base::Path::rotate (  const Quat4 &  r  )  [inline]

rotate the path orientation by r Definition at line 123 of file Path.

void base::Externalizable::save (  ref< VFile >  archive, const String &  format = "", Real  version = 1.0 )  [inherited]

void base::Path::scalePosition (  Real  s  )  [inline]

scale position coords. by s Definition at line 129 of file Path. References base::Real.

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

read or write object state to Serializer Implements base::Serializable. Reimplemented in base::Trajectory.

void base::Path::setCoordFrame (  const String &  coordFrame  )  [inline]

set application defined coordinate frame specifier. Definition at line 98 of file Path. References frame, and base::String.

void base::Path::setUnits (  const String &  unitSpecifier  )  [inline]

set application defined unit specifier. Definition at line 107 of file Path. References base::String, and units.

void base::Path::transform (  const Matrix4 &  m  )  [inline]

transform the path by m Definition at line 126 of file Path.

void base::Path::translate (  const Vector3 &  t  )  [inline]

translate the path position by t Definition at line 120 of file Path.

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Friends And Related Function Documentation

friend class Trajectory [friend]

Definition at line 156 of file Path.

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Member Data Documentation

String base::Path::frame [protected]

application defined coord. frame specifier Definition at line 147 of file Path. Referenced by getCoordFrame(), and setCoordFrame().

Serializable::SerializableDerivedInstantiator<LineSegPathRep> base::Path::lineSegPathRepInstantiator [protected]

Definition at line 153 of file Path.

ref<PathRep> base::Path::rep [protected]

representation Definition at line 146 of file Path.

String base::Path::units [protected]

application defined unit specifier Definition at line 148 of file Path. Referenced by getUnits(), and setUnits().

Serializable::SerializableDerivedInstantiator<WaypointPathRep> base::Path::waypointPathRepInstantiator [protected]

Definition at line 154 of file Path.

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

• base/Path

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