The representation of a waypoint in a trajectory. More...

#include <Waypoint.h>

Public Types
enum WaypointType { UNDEF, PTP, LINE, CIRC, WAIT }

Public Member Functions
virtual unsigned int getMemSize (void) const
	This method is used to get the size of objects It is not meant to have the exact size, it is more or less an estimation which runs fast! Is it two bytes or a GB? More...

virtual void Restore (Base::XMLReader &)
	This method is used to restore properties from an XML document. More...

virtual void Save (Base::Writer &) const
	This method is used to save properties to an XML document. More...

Waypoint ()

Waypoint (const char *name, const Base::Placement &endPos, WaypointType type=Waypoint::LINE, float velocity=2000.0, float accelaration=100.0, bool cont=false, unsigned int tool=0, unsigned int base=0)
	full constructor More...

~Waypoint ()

Public Member Functions inherited from Base::Persistence
void dumpToStream (std::ostream &stream, int compression)

virtual Base::Type getTypeId (void) const

virtual void RestoreDocFile (Reader &)
	This method is used to restore large amounts of data from a file In this method you simply stream in your SaveDocFile() saved data. More...

void restoreFromStream (std::istream &stream)

virtual void SaveDocFile (Writer &) const
	This method is used to save large amounts of data to a binary file. More...

Public Member Functions inherited from Base::BaseClass
BaseClass ()
	Construction. More...

virtual PyObject * getPyObject (void)
	This method returns the Python wrapper for a C++ object. More...

bool isDerivedFrom (const Type type) const

virtual void setPyObject (PyObject *)

virtual ~BaseClass ()
	Destruction. More...

Public Attributes
float Accelaration

unsigned int Base

bool Cont

Base::Placement EndPos

std::string Name

unsigned int Tool

WaypointType Type

float Velocity

Additional Inherited Members
Static Public Member Functions inherited from Base::Persistence
static void * create (void)

static std::string encodeAttribute (const std::string &)
	Encodes an attribute upon saving. More...

static Base::Type getClassTypeId (void)

static void init (void)

Static Public Member Functions inherited from Base::BaseClass
static void * create (void)

static Type getClassTypeId (void)

static void init (void)

Static Protected Member Functions inherited from Base::BaseClass
static void initSubclass (Base::Type &toInit, const char ClassName, const char ParentName, Type::instantiationMethod method=nullptr)

Detailed Description

The representation of a waypoint in a trajectory.

Member Enumeration Documentation

◆ WaypointType

enum Robot::Waypoint::WaypointType

Enumerator
UNDEF
PTP
LINE
CIRC
WAIT

Constructor & Destructor Documentation

◆ Waypoint() [1/2]

Waypoint::Waypoint ( )

◆ Waypoint() [2/2]

Waypoint::Waypoint	(	const char *	name,
		const Base::Placement &	endPos,
		WaypointType	type = `Waypoint::LINE`,
		float	velocity = `2000.0`,
		float	accelaration = `100.0`,
		bool	cont = `false`,
		unsigned int	tool = `0`,
		unsigned int	base = `0`
	)

full constructor

◆ ~Waypoint()

Waypoint::~Waypoint ( )

Member Function Documentation

◆ getMemSize()

unsigned int Waypoint::getMemSize ( void ) const

virtual

This method is used to get the size of objects It is not meant to have the exact size, it is more or less an estimation which runs fast! Is it two bytes or a GB?

Implements Base::Persistence.

◆ Restore()

void Waypoint::Restore ( Base::XMLReader & )

virtual

This method is used to restore properties from an XML document.

It uses the XMLReader class, which bases on SAX, to read the in Save() written information. Again the Vector as an example:

void PropertyVector::Restore(Base::XMLReader &reader)
{
  // read my Element
  reader.readElement("PropertyVector");
  // get the value of my Attribute
  _cVec.x = reader.getAttributeAsFloat("valueX");
  _cVec.y = reader.getAttributeAsFloat("valueY");
  _cVec.z = reader.getAttributeAsFloat("valueZ");
}

Implements Base::Persistence.

References Accelaration, CIRC, Cont, EndPos, Base::XMLReader::getAttribute(), Base::XMLReader::getAttributeAsFloat(), Base::XMLReader::getAttributeAsInteger(), LINE, Name, PTP, Base::XMLReader::readElement(), Tool, UNDEF, Velocity, and WAIT.

Referenced by Robot::Trajectory::Restore().

◆ Save()

void Waypoint::Save ( Base::Writer & ) const

virtual

This method is used to save properties to an XML document.

A good example you'll find in PropertyStandard.cpp, e.g. the vector:

void PropertyVector::Save (Writer &writer) const
{
   writer << writer.ind() << "<PropertyVector valueX=\"" <<  _cVec.x <<
                                          "\" valueY=\"" <<  _cVec.y <<
                                          "\" valueZ=\"" <<  _cVec.z <<"\"/>" << endl;
}

The writer.ind() expression writes the indentation, just for pretty printing of the XML. As you see, the writing of the XML document is not done with a DOM implementation because of performance reasons. Therefore the programmer has to take care that a valid XML document is written. This means closing tags and writing UTF-8.