The representation of a Trajectory. More...

#include <Trajectory.h>

Public Member Functions
void	addWaypoint (const Waypoint &WPnt)

void	deleteLast (unsigned int n=1)
	delete the last n waypoints More...

void	generateTrajectory (void)

double	getDuration (int n=-1) const
	return the duration (s) of the Trajectory if -1 or of the Waypoint with the given number More...

double	getLength (int n=-1) const
	return the Length (mm) of the Trajectory if -1 or of the Waypoint with the given number More...

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...

Base::Placement	getPosition (double time) const

unsigned int	getSize (void) const

std::string	getUniqueWaypointName (const char *Name) const

double	getVelocity (double time) const

const Waypoint &	getWaypoint (unsigned int pos) const

const std::vector< Waypoint * > &	getWaypoints (void) const

Trajectory &	operator= (const Trajectory &)

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...

	Trajectory ()

	Trajectory (const Trajectory &)

	~Trajectory ()

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...

Protected Attributes
KDL::Trajectory_Composite *	pcTrajectory

std::vector< Waypoint * >	vpcWaypoints

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 Trajectory.

Constructor & Destructor Documentation

◆ Trajectory() [1/2]

Trajectory::Trajectory ( )

◆ Trajectory() [2/2]

Trajectory::Trajectory ( const Trajectory & Trac )

References operator=().

◆ ~Trajectory()

Trajectory::~Trajectory ( )

References pcTrajectory, and vpcWaypoints.

Member Function Documentation

◆ addWaypoint()

void Trajectory::addWaypoint ( const Waypoint & WPnt )

References getUniqueWaypointName(), Robot::Waypoint::Name, and vpcWaypoints.

Referenced by Robot::Edge2TracObject::execute().

◆ deleteLast()

void Trajectory::deleteLast ( unsigned int n = 1 )

delete the last n waypoints

References vpcWaypoints.

◆ generateTrajectory()

void Trajectory::generateTrajectory ( void )

References Robot::Waypoint::LINE, pcTrajectory, Robot::Waypoint::PTP, Robot::toFrame(), vpcWaypoints, and Robot::Waypoint::WAIT.

Referenced by operator=(), and Restore().

◆ getDuration()

double Trajectory::getDuration ( int n = -1 ) const

return the duration (s) of the Trajectory if -1 or of the Waypoint with the given number

References pcTrajectory.

Referenced by Robot::Simulation::getDuration(), RobotGui::TaskTrajectory::TaskTrajectory(), and RobotGui::TrajectorySimulate::TrajectorySimulate().

◆ getLength()

double Trajectory::getLength ( int n = -1 ) const

return the Length (mm) of the Trajectory if -1 or of the Waypoint with the given number

References pcTrajectory.

Referenced by Robot::Simulation::getLength().

◆ getMemSize()

unsigned int Trajectory::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.

◆ getPosition()

Placement Trajectory::getPosition ( double time ) const

References pcTrajectory, and Robot::toPlacement().

Referenced by Robot::Simulation::getPosition(), Robot::Simulation::reset(), and Robot::Simulation::setToTime().

◆ getSize()

unsigned int Robot::Trajectory::getSize ( void ) const

Referenced by Save(), Robot::Simulation::Simulation(), RobotGui::TaskTrajectory::TaskTrajectory(), RobotGui::TrajectorySimulate::TrajectorySimulate(), and RobotGui::ViewProviderTrajectory::updateData().

◆ getUniqueWaypointName()

std::string Trajectory::getUniqueWaypointName ( const char * Name ) const

References vpcWaypoints.

Referenced by addWaypoint().

◆ getVelocity()

double Trajectory::getVelocity ( double time ) const

References Base::Vector3< _Precision >::Length(), pcTrajectory, and draftgeoutils.general::vec().

Referenced by Robot::Simulation::getVelocity().

◆ getWaypoint()

const Waypoint & Robot::Trajectory::getWaypoint ( unsigned int pos ) const

Referenced by RobotGui::TaskTrajectory::TaskTrajectory(), RobotGui::TrajectorySimulate::TrajectorySimulate(), and RobotGui::ViewProviderTrajectory::updateData().

◆ getWaypoints()

const std::vector< Waypoint * > & Robot::Trajectory::getWaypoints ( void ) const

Referenced by Robot::TrajectoryCompound::execute(), and Robot::TrajectoryDressUpObject::execute().

◆ operator=()

Trajectory & Trajectory::operator= ( const Trajectory & Trac )

References generateTrajectory(), and vpcWaypoints.

Referenced by Trajectory().

◆ Restore()

void Trajectory::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 generateTrajectory(), Base::XMLReader::getAttributeAsInteger(), Base::XMLReader::readElement(), Robot::Waypoint::Restore(), and vpcWaypoints.

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

◆ Save()

void Trajectory::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.

See also: Base::Writer

Implements Base::Persistence.

References Base::Writer::decInd(), getSize(), Base::Writer::incInd(), Base::Writer::ind(), Save(), Base::Writer::Stream(), and vpcWaypoints.

Referenced by Save().

Member Data Documentation

◆ pcTrajectory

KDL::Trajectory_Composite* Robot::Trajectory::pcTrajectory

protected

Referenced by generateTrajectory(), getDuration(), getLength(), getPosition(), getVelocity(), and ~Trajectory().

◆ vpcWaypoints

std::vector<Waypoint*> Robot::Trajectory::vpcWaypoints

protected

Referenced by addWaypoint(), deleteLast(), generateTrajectory(), getUniqueWaypointName(), operator=(), Restore(), Save(), and ~Trajectory().

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

FreeCAD/src/Mod/Robot/App/Trajectory.h
FreeCAD/src/Mod/Robot/App/Trajectory.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Trajectory() [1/2]

◆ Trajectory() [2/2]

◆ ~Trajectory()

Member Function Documentation

◆ addWaypoint()

◆ deleteLast()

◆ generateTrajectory()

◆ getDuration()

◆ getLength()

◆ getMemSize()

◆ getPosition()

◆ getSize()

◆ getUniqueWaypointName()

◆ getVelocity()

◆ getWaypoint()

◆ getWaypoints()

◆ operator=()

◆ Restore()

◆ Save()

Member Data Documentation

◆ pcTrajectory

◆ vpcWaypoints