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 acceleration=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 unsigned int	getMemSize () const =0
	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 Base::Type	getTypeId (void) const

virtual void	Restore (XMLReader &)=0
	This method is used to restore properties from an XML document. More...

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	Save (Writer &) const =0
	This method is used to save properties to an XML document. More...

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...

	BaseClass (const BaseClass &)=default

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

virtual Type	getTypeId () const

bool	isDerivedFrom (const Type type) const

BaseClass &	operator= (const BaseClass &)=default

virtual void	setPyObject (PyObject *)

virtual	~BaseClass ()
	Destruction. More...

Public Attributes
float	Acceleration

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 ()

static Type	getClassTypeId ()

static void	init ()

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	acceleration = `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 Acceleration, 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.