PathLoader Class Reference

Load and store for various types of paths. More...

#include <PathLoader.hpp>

Static Public Member Functions
static void	storePath (const rw::trajectory::QPath &path, const std::string &file)
	store a QPath to file More...
static void	storeTimedStatePath (const rw::models::WorkCell &workcell, const rw::trajectory::TimedStatePath &path, const std::string &file)
	Store the sequence path of workcell to the file named file. More...
static void	storeVelocityTimedStatePath (const models::WorkCell &workcell, const rw::trajectory::StatePath &path, const std::string &file)
	Time stamp the sequence path of workcell and store it to the file named file. More...
static rw::trajectory::QPath	loadPath (const std::string &file)
	Loads a Path of robot configuration. More...
static rw::trajectory::TimedStatePath	loadTimedStatePath (const rw::models::WorkCell &workcell, const std::string &file)
	Load a sequence of states for workcell from the file named file. More...
static rw::trajectory::TimedStatePath	loadTimedStatePath (rw::core::Ptr< rw::models::WorkCell > workcell, const std::string &file)
	Load a sequence of states for workcell from the file named file. More...
static void	storeStatePath (const models::WorkCell &workcell, const rw::trajectory::StatePath &path, const std::string &file)
	Store the sequence path of workcell to the file named file. More...
static rw::trajectory::StatePath	loadStatePath (const models::WorkCell &workcell, const std::string &file)
	Load a sequence of states for workcell from the file named file. More...

Detailed Description

Load and store for various types of paths.

Probably, what we want to store probably is not paths, but trajectories. Perhaps each type of trajectory may have its own storage format. We will see. So far storeVelocityTimedStatePath() and loadTimedStatePath() are useful utilities to have as is.

Member Function Documentation

loadPath()

static rw::trajectory::QPath loadPath ( const std::string &  file )

static

Loads a Path of robot configuration.

Load and return a path from a file. Throws an exception if an error occurs

Parameters

file	[in] file name

Returns

the path

loadStatePath()

static rw::trajectory::StatePath loadStatePath ( const models::WorkCell &  workcell, const std::string &  file  )

static

Load a sequence of states for workcell from the file named file.

An exception is thrown if the file can't be read or is of the wrong format with respect to the work cell.

See also storeStatePath().

loadTimedStatePath() [1/2]

static rw::trajectory::TimedStatePath loadTimedStatePath ( const rw::models::WorkCell &  workcell, const std::string &  file  )

static

Load a sequence of states for workcell from the file named file.

An exception is thrown if the file can't be read or is of the wrong format with respect to the work cell.

See also storeTimedStatePath().

loadTimedStatePath() [2/2]

static rw::trajectory::TimedStatePath loadTimedStatePath ( rw::core::Ptr< rw::models::WorkCell >  workcell, const std::string &  file  )

static

Load a sequence of states for workcell from the file named file.

An exception is thrown if the file can't be read or is of the wrong format with respect to the work cell.

See also storeTimedStatePath().

storePath()

static void storePath ( const rw::trajectory::QPath &  path, const std::string &  file  )

static

store a QPath to file

Parameters

path
file

storeStatePath()

static void storeStatePath ( const models::WorkCell &  workcell, const rw::trajectory::StatePath &  path, const std::string &  file  )

static

Store the sequence path of workcell to the file named file.

See also loadStatePath().

storeTimedStatePath()

static void storeTimedStatePath ( const rw::models::WorkCell &  workcell, const rw::trajectory::TimedStatePath &  path, const std::string &  file  )

static

Store the sequence path of workcell to the file named file.

See also loadTimedStatePath().

storeVelocityTimedStatePath()

static void storeVelocityTimedStatePath ( const models::WorkCell &  workcell, const rw::trajectory::StatePath &  path, const std::string &  file  )

static

Time stamp the sequence path of workcell and store it to the file named file.

The states are given time stamps according to the maximum joint speed velocities of workcell.

The time stamped sequence can be loaded again with loadTimedStatePath().

---

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

• PathLoader.hpp