KDL: Trajectory/Path

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<P><FONT SIZE=2 FACE="Verdana">Hi List</FONT>
</P>

<P><FONT SIZE=2 FACE="Verdana">Are there any examples for how to cleanly use the Trajectory</FONT>

<BR><FONT SIZE=2 FACE="Verdana">and Path Classes from KDL?</FONT>

<BR><FONT SIZE=2 FACE="Verdana">I assume these would be used on the naxes/Cartesian Generator</FONT>

<BR><FONT SIZE=2 FACE="Verdana">Level, but in OCL i couldn't find any use of these classes.</FONT>
</P>

<P><FONT SIZE=2 FACE="Verdana">Does someone have such a Generator and is willing to share it's</FONT>

<BR><FONT SIZE=2 FACE="Verdana">code. It is really a good starting point to have something like</FONT>

<BR><FONT SIZE=2 FACE="Verdana">the OCL Components, if there are. (sidekick to the ongoing</FONT>

<BR><FONT SIZE=2 FACE="Verdana">RTT 2.0 dicussion, examples is really a GOOD thing. But thank</FONT>

<BR><FONT SIZE=2 FACE="Verdana">you for this great framework. I really like what I saw so far,</FONT>

<BR><FONT SIZE=2 FACE="Verdana">I still have to find my way through the jungle though...).</FONT>
</P>

<P><FONT SIZE=2 FACE="Verdana">Thanks</FONT>
</P>

<P><FONT SIZE=2 FACE="Verdana">Marc</FONT>
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Ruben Smits's picture

Trajectory/Path

On Wednesday 11 February 2009 10:00:34 Bodmer Marc wrote:
> Hi List
>
> Are there any examples for how to cleanly use the Trajectory
> and Path Classes from KDL?
> I assume these would be used on the naxes/Cartesian Generator
> Level, but in OCL i couldn't find any use of these classes.

In OCL we use the velocity-profiles in the naxes/generator and
cartesian/generator classes.

We do not use the paths in these generators because they cannot be
adapted/created at runtime without memory-allocation, which is needed for in
these implementations. If the path is known at compile/configuration time, you
can use the trajectories (which binds paths and velocity-profiles together).

> Does someone have such a Generator and is willing to share it's
> code. It is really a good starting point to have something like
> the OCL Components, if there are.

look at ocl/motion_control/naxes/nAxesGeneratorPos and
ocl/motion_control/cartesian/CartesianGeneratorPos

> (sidekick to the ongoing
> RTT 2.0 dicussion, examples is really a GOOD thing. But thank
> you for this great framework. I really like what I saw so far,
> I still have to find my way through the jungle though...).

All we need is time :)

Ruben