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P2PMotion< T > Class Template Reference

Class describing point to point motions. More...

#include <Motion.hpp>

Inherits Motion< T >.

Public Types

typedef rw::common::Ptr< P2PMotion< T > > Ptr
 smart pointer type to this class
 
typedef rw::common::Ptr< Target< T > > TargetPtr
 
- Public Types inherited from Motion< T >
typedef rw::common::Ptr< Motion< T > > Ptr
 smart pointer type to this class
 
typedef rw::common::Ptr< Target< T > > TargetPtr
 
- Public Types inherited from MotionBase
typedef rw::common::Ptr< MotionBasePtr
 smart pointer type to this class
 
- Public Types inherited from Entity
typedef rw::common::Ptr< EntityPtr
 smart pointer type to this class
 

Public Member Functions

 P2PMotion (TargetPtr start, TargetPtr end)
 Constructs P2PMotion between start and end. More...
 
const T & start ()
 Returns value of the start target. More...
 
const T & end ()
 Returns value of the end target. More...
 
TargetPtr startTarget ()
 Returns the start target. More...
 
TargetPtr endTarget ()
 Returns the end target. More...
 
virtual rw::common::Ptr< Motion< T > > clone (const std::vector< TargetPtr > &newTargets)
 Make a copy of the motion. More...
 
virtual void reverse ()
 Do reverse motion. More...
 
- Public Member Functions inherited from MotionBase
 MotionBase (MotionType motionType)
 Constructs motion. More...
 
virtual ~MotionBase ()
 Destructor.
 
MotionType motionType ()
 Returns the type of the motion. More...
 
- Public Member Functions inherited from Entity
 Entity (EntityType type, const std::string &id="")
 Constructs an Entity with a given type,. More...
 
virtual ~Entity ()
 Destructor.
 
rw::common::PropertyMapgetPropertyMap ()
 Returns reference to rw::common::PropertyMap associated with the Entity. More...
 
const rw::common::PropertyMapgetPropertyMap () const
 Returns reference to rw::common::PropertyMap associated with the Entity. More...
 
void setPropertyMap (const rw::common::PropertyMap &propertymap)
 Sets the content of the propertymap. More...
 
int getIndex () const
 Returns index specifying the position of the Entity in a Task. More...
 
void setIndex (int index)
 Sets the order index of the Entity. More...
 
virtual EntityType entityType () const
 Returns the type of Entity. More...
 
void setId (const std::string &id)
 Set the id for the entity. More...
 
const std::string & getId () const
 Get the id of the entity. More...
 
template<class T >
cast ()
 Method which can be used to explicitly and safely casting an Entity. More...
 

Additional Inherited Members

- Protected Member Functions inherited from Motion< T >
 Motion (MotionType motion_type)
 Protected constructor.
 
- Protected Attributes inherited from Entity
rw::common::PropertyMap _properties
 Properties of entity.
 
EntityType _entityType
 The type of entity.
 
int _index
 The index of the entity.
 
std::string _id
 The id of the entity.
 

Detailed Description

template<class T>
class rwlibs::task::P2PMotion< T >

Class describing point to point motions.

A point to point motion is linear in joint space and will generally be the fastest way of moving between two configurations.

Member Typedef Documentation

◆ TargetPtr

Definition of target for convenience.

Constructor & Destructor Documentation

◆ P2PMotion()

P2PMotion ( TargetPtr  start,
TargetPtr  end 
)
inline

Constructs P2PMotion between start and end.

Parameters
start[in] start of the motion
end[in] end of the motion

Member Function Documentation

◆ clone()

virtual rw::common::Ptr<Motion<T> > clone ( const std::vector< TargetPtr > &  newTargets)
inlinevirtual

Make a copy of the motion.

Parameters
newTargets[in] a vector of targets.
Returns
new identical motion.

Implements Motion< T >.

◆ end()

const T& end ( )
inlinevirtual

Returns value of the end target.

Returns
Reference to value of end target

Implements Motion< T >.

◆ endTarget()

TargetPtr endTarget ( )
inlinevirtual

Returns the end target.

Returns
The start target

Implements Motion< T >.

◆ reverse()

virtual void reverse ( )
inlinevirtual

Do reverse motion.

Implements Motion< T >.

◆ start()

const T& start ( )
inlinevirtual

Returns value of the start target.

Returns
Reference to value of start target

Implements Motion< T >.

◆ startTarget()

TargetPtr startTarget ( )
inlinevirtual

Returns the start target.

Returns
The start target

Implements Motion< T >.


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