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rdKinematics Class Reference

This class provides access to a set of kinematics for a system of articulated bodies. More...

#include <rdKinematics.h>

List of all members.

Public Member Functions
virtual	~rdKinematics ()
	Destructor.
	rdKinematics (const char *aSuiteName, int aNStates)
	Construct a suite of splines.
int	initialize (const char *aSuiteName, int aNStates)
	Initialize a suite of splines.
int	getNY ()
	Get the number of sates.
double	pos (int aState, double aTime)
	Evaluate the position of a state.
double	vel (int aState, double aTime)
	Evaluate the velocity of a state.
double	acc (int aState, double aTime)
	Evaluate the acceleration of a state.
char	isStateIndexValid (int aState)
	Is a state index valid?
Private Attributes
int	_status
char *	_name
int	_n
rdSpline **	_spPos
rdSpline **	_spVel
rdSpline **	_spAcc

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Detailed Description

This class provides access to a set of kinematics for a system of articulated bodies.

The kinematic curve, whether position, velocity, or acceleration, is represented by a b-spline. The b-splines for the positions were obtained by performing a least-squares fit of the curve to a set of data. The b-splines for the velocities and accelerations were obtained by analytically differentiating the position b-splines.

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Constructor & Destructor Documentation

rdKinematics::rdKinematics (  const char *  aSuiteName, int  aNStates )

Construct a suite of splines. The suite is a sequence of files which all have some suite name in common and are appended by a number (starting with 1, not 0) which indicates a state of the system. Note that it is currently assumed that each spline file contains a spline representation for the displacement, velocity, and acceleration of some state. Parameters: aSuiteName  the base name of a suite of spline files. aNStates  the number of states represented by the suite.

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Member Function Documentation

double rdKinematics::acc (  int  aState, double  aTime )

Evaluate the acceleration of a state. Parameters: aState  the index of the state (starting with 0). aTime  the time of the evaluation.

int rdKinematics::getNY (   )

Get the number of sates. Parameters: aState  the index of the state (starting with 0). aTime  the time of the evaluation.

int rdKinematics::initialize (  const char *  aSuiteName, int  aNStates )

Initialize a suite of splines. The suite is a sequence of files which all have some suite name in common and are appended by a number (starting with 1, not 0) which indicates a state of the system. Note that it is currently assumed that each spline file contains a spline representation for the displacement, velocity, and acceleration of some state. Parameters: aSuiteName  the base name of a suite of spline files. aNStates  the number of states represented by the suite.

char rdKinematics::isStateIndexValid (  int  aState  )

Is a state index valid? Parameters: aState  the index of the state (starting with 0). Returns: 1 if valid, 0 if not valid.

double rdKinematics::pos (  int  aState, double  aTime )

Evaluate the position of a state. Parameters: aState  the index of the state (starting with 0). aTime  the time of the evaluation.

double rdKinematics::vel (  int  aState, double  aTime )

Evaluate the velocity of a state. Parameters: aState  the index of the state (starting with 0). aTime  the time of the evaluation.

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

• rdKinematics.h
• rdKinematics.cpp

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