Defines a path for the robot arm to follow.
#import <CBPath.h>
Public Member Functions | |
(CBArmPosition *) | - startPosition |
Returns the position that the arm should start at when executing this path. | |
(void) | - getTargetPosition:andSpeed:forTime: |
Returns the target position and speed that the robot should have at the given time value, specified in seconds (where zero is the start of the path). | |
(double) | - pathLength |
Returns the total length of the path, measured in seconds. | |
(void) | - setPathTime: |
Provides the current time value as the arm moves along the path. |
|
required |
Returns the target position and speed that the robot should have at the given time value, specified in seconds (where zero is the start of the path).
The result of this function defines the path that the robot will follow.
While the path defined by this function does not need to be consistent, it IS recommended that it remain consistent between each call to setPathTime, in case the path executor samples multiple points per time value (i.e., if the path is wrapped by a path-smoothing class).