classpath.html

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<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>timeInc</em>&nbsp;</td><td>The amount of time (seconds) to increment the playback position after reading out the position &amp; velocity values. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>pos</em>&nbsp;</td><td>An array where the position information will be returned. This array must be long enough to store DIM elements, where DIM is the path dimension. </td></tr>
    <tr><td valign="top"></td><td valign="top"><em>vel</em>&nbsp;</td><td>An array where the velocity information will be returned. This array must be long enough to store DIM elements, where DIM is the path dimension. </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>true if the end of the path has been reached, false if not.</dd></dl>
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<a class="anchor" name="a2"></a><!-- doxytag: member="Path::Reset" ref="a2" args="(void)" --><p>
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          <td class="md" nowrap valign="top">virtual void Reset           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [virtual]</code></td>
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<p>
Reset the path to the first position. 
<p>
This should be called before the path is passed to the <a class="el" href="classLinkage.html">Linkage</a> object as a trajectory to run.    </td>
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<a class="anchor" name="a5"></a><!-- doxytag: member="Path::SetAcc" ref="a5" args="(uunit a)" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* SetAcc           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a>&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>a</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [virtual]</code></td>
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<p>
Set the acceleration limit for the current location. 
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Acceleration limits must be greater then zero. <dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>a</em>&nbsp;</td><td>The maximum acceleration (position units / second / second) </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>An error object or null on success</dd></dl>
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<a class="anchor" name="a6"></a><!-- doxytag: member="Path::SetDec" ref="a6" args="(uunit d)" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* SetDec           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a>&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>d</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [virtual]</code></td>
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<p>
Set the deceleration limit for the current location. 
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Note that setting the deceleration limit less then or equal to zero will cause the acceleration value to be used for deceleration also. <dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>d</em>&nbsp;</td><td>The maximum deceleration (position units / second / second) </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>An error object or null on success</dd></dl>
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<a class="anchor" name="a3"></a><!-- doxytag: member="Path::SetStartPos" ref="a3" args="(PointN &amp;p)" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* SetStartPos           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="classPointN.html">PointN</a> &amp;&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>p</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [virtual]</code></td>
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<p>
Set the initial position for the path. 
<p>
This method may be used to start a path at a position other then (0,0) which is the default if no staring position is set.<p>
The starting position may be set at any time, either before or after adding segments to the path. Internally, the segments are all stored as relative positions.<p>
<dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>p</em>&nbsp;</td><td>The starting position for this path. </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>An error object or null on success</dd></dl>
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<a class="anchor" name="a4"></a><!-- doxytag: member="Path::SetVel" ref="a4" args="(uunit v)" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* SetVel           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a>&nbsp;</td>
          <td class="mdname1" valign="top" nowrap> <em>v</em>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [virtual]</code></td>
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<p>
Set the velocity limit for the current location. 
<p>
Velocity limits must be greater then zero. <dl compact><dt><b>Parameters:</b></dt><dd>
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    <tr><td valign="top"></td><td valign="top"><em>v</em>&nbsp;</td><td>The maximum velocity (position units / second) </td></tr>
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<dl compact><dt><b>Returns:</b></dt><dd>An error object or null on success</dd></dl>
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<a class="anchor" name="a14"></a><!-- doxytag: member="Path::StartNew" ref="a14" args="(void)" --><p>
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          <td class="md" nowrap valign="top">virtual const <a class="el" href="classError.html">Error</a>* StartNew           </td>
          <td class="md" valign="top">(&nbsp;</td>
          <td class="md" nowrap valign="top">void&nbsp;</td>
          <td class="mdname1" valign="top" nowrap>          </td>
          <td class="md" valign="top">&nbsp;)&nbsp;</td>
          <td class="md" nowrap><code> [virtual]</code></td>
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<p>
Start a new trajectory. 
<p>
This function is called before the first call to <a class="el" href="classLinkTrajectory.html#a4">LinkTrajectory::NextSegment</a>. It will result in a call to <a class="el" href="classPath.html#a2">Path::Reset</a><p>
<dl compact><dt><b>Returns:</b></dt><dd>An error pointer if the trajectory object is not available, or NULL if it is ready to be sent.</dd></dl>

<p>
Reimplemented from <a class="el" href="classLinkTrajectory.html#a0">LinkTrajectory</a>.    </td>
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<hr>The documentation for this class was generated from the following file:<ul>
<li><a class="el" href="CML__Path_8h-source.html">CML_Path.h</a></ul>
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