Robot::Trajectory Class Reference

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 WaypointgetWaypoint (unsigned int pos) const
 
const std::vector< Waypoint * > & getWaypoints (void) const
 
Trajectoryoperator= (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 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 PyObjectgetPyObject (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...
 

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 (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 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()

◆ deleteLast()

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

delete the last n waypoints

References vpcWaypoints.

Referenced by Robot::TrajectoryPy::deleteLast().

◆ generateTrajectory()

◆ getDuration()

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

◆ 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(), and Robot::TrajectoryPy::representation().

◆ 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

◆ getSize()

◆ getUniqueWaypointName()

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

References vpcWaypoints.

Referenced by addWaypoint().

◆ getVelocity()

double Trajectory::getVelocity ( double  time) const

◆ getWaypoint()

◆ getWaypoints()

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

◆ 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");
}
The XML reader class This is an important helper class for the store and retrieval system of objects ...
Definition: Reader.h:118
void readElement(const char *ElementName=0)
read until a start element is found (<name>) or start-end element (<name/>) (with special name if giv...
Definition: Reader.cpp:240
double getAttributeAsFloat(const char *AttrName) const
return the named attribute as a double floating point (does type checking)
Definition: Reader.cpp:158

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(), Base::Writer::Stream(), and vpcWaypoints.

Member Data Documentation

◆ pcTrajectory

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

◆ vpcWaypoints

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

The documentation for this class was generated from the following files:
  • Sources/FreeCAD/src/Mod/Robot/App/Trajectory.h
  • Sources/FreeCAD/src/Mod/Robot/App/Trajectory.cpp