LinearMotion< T > Class Template Reference

Class describing linear motions. More...

#include <Motion.hpp>

Inherits Motion< T >.

Public Types
typedef rw::core::Ptr< LinearMotion< T > >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< Target< T > >	TargetPtr
Public Types inherited from Motion< T >
typedef rw::core::Ptr< Motion< T > >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< Target< T > >	TargetPtr
Public Types inherited from MotionBase
typedef rw::core::Ptr< MotionBase >	Ptr
	smart pointer type to this class
Public Types inherited from Entity
typedef rw::core::Ptr< Entity >	Ptr
	smart pointer type to this class

Public Member Functions
	LinearMotion (TargetPtr start, TargetPtr end)
	Construct LinearMotion from start to 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::core::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::core::PropertyMap &	getPropertyMap ()
	Returns reference to rw::core::PropertyMap associated with the Entity. More...
const rw::core::PropertyMap &	getPropertyMap () const
	Returns reference to rw::core::PropertyMap associated with the Entity. More...
void	setPropertyMap (const rw::core::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 >
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::core::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::LinearMotion< T >

Class describing linear motions.

A linear motion is defined as a motion linear in Cartesian space. It is the users responsibility to decide of to interpolate the orientation.

Member Typedef Documentation

TargetPtr

typedef rw::core::Ptr<Target<T> > TargetPtr

Definition of target for convenience.

Constructor & Destructor Documentation

LinearMotion()

LinearMotion ( TargetPtr  start, TargetPtr  end  )

inline

Construct LinearMotion from start to end.

Parameters

start	[in] start of motion
end	[in] end of motion

Member Function Documentation

clone()

virtual rw::core::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 >.

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

• Motion.hpp