MultiPath Class Reference

A very general multi-section path container. More...

#include <MultiPath.h>

Classes
struct	PathSection

Public Types
enum	InterpPolicy { InterpLinear, InterpCubic }

Public Member Functions
bool	Load (const string &fn)
bool	Save (const string &fn) const
bool	Load (TiXmlElement *in)
bool	Save (TiXmlElement *out) const
size_t	NumSections () const
bool	IsValid () const
	Tests whether the path has a valid set of milestones and constraints.
bool	IsContinuous (Real tol=0.0) const
bool	HasTiming (int section=0) const
	Returns true if the specified section has timing information.
bool	HasVelocity (int section=0) const
	Returns true if the specified section has velocity information.
bool	HasConstraints (int section=0) const
	Returns true if the specified section has any constraints (ik or holds)
bool	HasContacts (int section=0) const
	Returns true if the specified section has hold information.
void	GetMilestones (vector< Vector > &milestones, int section=0) const
	Returns the set of untimed milestones along the given section.
void	GetTimedMilestones (vector< Real > &times, vector< Vector > &milestones, int section=0) const
bool	GetDynamicPath (ParabolicRamp::DynamicPath &path, int section=0) const
void	SetMilestones (const vector< Vector > &milestones, int section=0)
void	SetTimedMilestones (const vector< Real > &times, const vector< Vector > &milestones, int section=0)
void	SetDynamicPath (const ParabolicRamp::DynamicPath &path, int section=0)
Real	StartTime () const
	Returns the start time of the path. If untimed, the start time is 0.
Real	EndTime () const
	Returns the end time of the path. If untimed, the end time is 1.
Real	Duration () const
	Returns the duration of the path. If untimed, the duration is 1.
void	SetDuration (Real duration, bool uniformSectionTimes=true)
void	SetSmoothTiming (Real duration, bool uniformSectionTimes=true)
void	Concat (const MultiPath &suffix, bool relative=true)
void	GetIKProblem (vector< IKGoal > &goals, int section=0) const
	Retrieves all of the IK goals from the problem, including holds.
void	SetIKProblem (const vector< IKGoal > &goals, int section=0)
void	GetStance (Stance &stance, int section=0) const
	Retrieves the section's stance, including other ikGoal constraints.
void	SetStance (const Stance &stance, int section=0)
void	SetHold (const string &str, const Hold &h)
	Sets a named global hold.
bool	GetHold (const string &str, Hold &h) const
	Retreives a named global hold.
int	TimeToSection (Real time) const
int	Evaluate (Real time, GeneralizedCubicBezierCurve &curve, Real &duration, Real &u, InterpPolicy policy=InterpCubic) const
int	Evaluate (Real time, Vector &q, InterpPolicy policy=InterpCubic) const
int	Evaluate (Real time, Vector &q, Vector &v, InterpPolicy policy=InterpCubic) const

Public Attributes
PropertyMap	settings
vector< PathSection >	sections
vector< Hold >	holdSet
vector< string >	holdSetNames

Detailed Description

A very general multi-section path container.

Path sections can be time-parameterized, have velocities, and can also have section-specific constraints.

A non-time-parameterized path with velocities is assumed to be just a linear interpolation in config x velocity space (q,v).

Section-specific constraints are either ikGoals, holds or both. To save space a multipath may also define holds as indexes into the holdSet data structure.

Load/Save to XML files is supported.

Member Function Documentation

void MultiPath::Concat	(	const MultiPath &	suffix,
		bool	relative = true
	)

Concatenates another multipath. If this is a timed path, the suffix path must be timed as well. In such a case, if relative = true then timing of the suffix path is shifted forward by time this->Duration() before concatenating it.

int MultiPath::Evaluate	(	Real	time,
		GeneralizedCubicBezierCurve &	curve,
		Real &	duration,
		Real &	u,
		InterpPolicy	policy = InterpCubic
	)		const

Generates a hermite interpolator with "natural" tangents if velocities are not present. Returns the section index

bool MultiPath::GetDynamicPath	(	ParabolicRamp::DynamicPath &	path,
		int	section = 0
	)		const

Computes a DynamicPath from the given section. path.velMax and path.accMax need to be set.

void MultiPath::GetTimedMilestones	(	vector< Real > &	times,
		vector< Vector > &	milestones,
		int	section = 0
	)		const

Returns the set of timed milestones along the given section. If the section is untimed, the times are set uniformly in the range [0,1].

bool MultiPath::IsContinuous

(

Real

tol = 0.0

)

const

Tests whether the milestone, times, and velocities are continuous within the tolerance tol

void MultiPath::SetDuration	(	Real	duration,
		bool	uniformSectionTimes = true
	)

Sets the duration of the path by scaling. If untimed, milestone times are assigned. If untimed and uniformSectionTimes = false, section durations are assigned proportional to the number of section milestones. Otherwise, section durations are uniform

void MultiPath::SetDynamicPath	(	const ParabolicRamp::DynamicPath &	path,
		int	section = 0
	)

Sets the given section to a DynamicPath (untimed). Dynamic resizing is supported if section=sections.size().

void MultiPath::SetIKProblem	(	const vector< IKGoal > &	goals,
		int	section = 0
	)

Sets the section to just an IK constrained section (holds are deleted). Dynamic resizing is supported if section=sections.size().

void MultiPath::SetMilestones	(	const vector< Vector > &	milestones,
		int	section = 0
	)

Sets the given section to an untimed path. Dynamic resizing is supported if section=sections.size()

void MultiPath::SetSmoothTiming	(	Real	duration,
		bool	uniformSectionTimes = true
	)

Sets the timing of the path by smoothly accelerating and decelerating to a stop between sections. Existing timing is overwritten. See for a description of uniformSectionTimes.

void MultiPath::SetStance	(	const Stance &	stance,
		int	section = 0
	)

Sets the section to a stance section (ikGoals are deleted). Dynamic resizing is supported if section=sections.size().

void MultiPath::SetTimedMilestones	(	const vector< Real > &	times,
		const vector< Vector > &	milestones,
		int	section = 0
	)

Sets the given section to a timed path. Note: timing is absolute. Dynamic resizing is supported if section=sections.size().

int MultiPath::TimeToSection

(

Real

time

)

const

Returns the section corresponding to the current time. If untimed, the time range is [0,1]. Does not support mixed timed and untimed paths.

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

• MultiPath.h