Hi all (expecially Erwin),
I am trying to use the Path_RoundedComposite class for the trajectory
generator
- first of all:
any of you have an example to share?
- i am getting out quite a lot of nan...
how i do catch the Error_MotionPlanning_Not_Feasible() ?
- i do not quite grasp how to use the RotationalInterpolation_SingleAxis
(if i have to configure it is configured by the constructor of
Path_RoundedComposite)
and the eqradius (if it is 0, it means that the rotation is not taken
into account in computing the path length? )

------------------------------------------
here is the code...

class variables...

KDL::Trajectory_Segment* Trajectory_pt;

KDL::RotationalInterpolation_SingleAxis RISA;
//std::vector<KDL::Path_Line *> Path_line_pts;
//KDL::Path_Composite Path;
KDL::VelocityProfile_Spline m_mot_prof;
KDL::Path_RoundedComposite * Rounded_path;
bool m_is_trajectory;
double radius;
double eqradius;

...

configure hook

Rounded_path = new KDL::Path_RoundedComposite(radius,eqradius,&RISA);

for (int i=0; i<(via_pose.size());i++)
{
Rounded_path->Add(via_pose[i]);
}
Rounded_path->Finish();

m_mot_prof.SetProfileDuration(0,0,Rounded_path->PathLength(),0,via_time[0]);
Trajectory_pt= new KDL::Trajectory_Segment(Rounded_path, &m_mot_prof);

update hook

m_time_passed = os::TimeService::Instance()->secondsSince(m_time_begin);
if (m_time_passed > Trajectory_pt->Duration()) //DONE!
{
m_position_desi_local =via_pose.back();
log(Info)<<"updateHook: Trajectory ended in "<<
Trajectory_pt->Duration()<<endlog();
...
}
else //computing trj.
{
m_position_desi_local=Trajectory_pt->Pos(m_time_passed);
m_velocity_desi_local=Trajectory_pt->Vel(m_time_passed);
}

--------------------------------------------

PS: the orocos website has no documentation about
KDL::VelocityProfile_Spline
http://people.mech.kuleuven.be/~rsmits/kdl/api/html/group__Motion.html

On 06/01/2012 08:16 AM, Erwin Aertbelien wrote:
> ok for me
>
> On 06/01/2012 08:15 AM, Joris De Schutter wrote:
>> Half an hour is probably short. I have another meeting at 14.30.
>> Would it be possible to start at 13.30?
>> Joris
>> -----Original Appointment-----
>> *From:* Gianni Borghesan
>> *Sent:* vrijdag 25 mei 2012 13:28
>> *To:* Gianni Borghesan; Dominick Vanthienen; Tinne De Laet; Erwin
>> Aertbeliën; Herman Bruyninckx; Joris De Schutter
>> *Subject:* RoboHow Meeting
>> *When:* vrijdag 1 juni 2012 14:00-14:30 (GMT+01:00) Brussels,
>> Copenhagen, Madrid, Paris.
>> *Where:* Joris Bureu
>> Quando: venerdì 1 giugno 2012 14.00-14.30. ((UTC + 1.00 h) Amsterdam,
>> Berlino, Berna, Roma, Stoccolma, Vienna
>> Dove: Joris Bureu
>> *~*~*~*~*~*~*~*~*~*
>> Agenda:
>> Organization WS in July
>> Current state of the work...