KDL::RotationalInterpolation Class Reference
[Motion]

#include <rotational_interpolation.hpp>

Inheritance diagram for KDL::RotationalInterpolation:

[legend]

List of all members.

Public Member Functions
virtual Vector	Acc (double theta, double thetad, double thetadd) const =0
virtual double	Angle ()=0
virtual RotationalInterpolation *	Clone () const =0
virtual Rotation	Pos (double theta) const =0
virtual void	SetStartEnd (Rotation start, Rotation end)=0
virtual Vector	Vel (double theta, double thetad) const =0
virtual void	Write (std::ostream &os) const =0
virtual	~RotationalInterpolation ()
Static Public Member Functions
static RotationalInterpolation *	Read (std::istream &is)

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Detailed Description

RotationalInterpolation specifies the rotational part of a geometric trajectory

• The different derived objects specify different methods for interpolating rotations.
• SetStartEnd should be called before using the other methods
• The start and end position do NOT belong to the persistent state ! The owner of this object is responsible for setting these each time

Definition at line 62 of file rotational_interpolation.hpp.

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Constructor & Destructor Documentation

virtual KDL::RotationalInterpolation::~RotationalInterpolation

(

)

[inline, virtual]

Definition at line 112 of file rotational_interpolation.hpp.

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Member Function Documentation

virtual Vector KDL::RotationalInterpolation::Acc	(	double	theta,
		double	thetad,
		double	thetadd
	)			const [pure virtual]

Returns the rotational acceleration at angle theta and with derivative of theta == thetad, and 2nd derivative of theta == thdd

Implemented in KDL::RotationalInterpolation_SingleAxis.

virtual double KDL::RotationalInterpolation::Angle

(

)

[pure virtual]

• Returns the angle value to move from start to end. This should have units radians,
• With Single Axis interp corresponds to the angle rotation
• With Three Axis interp corresponds to the slowest of the three rotations.

Implemented in KDL::RotationalInterpolation_SingleAxis.

virtual RotationalInterpolation* KDL::RotationalInterpolation::Clone

(

)

const [pure virtual]

virtual constructor, construction by copying ..

Implemented in KDL::RotationalInterpolation_SingleAxis.

virtual Rotation KDL::RotationalInterpolation::Pos

(

double

theta

)

const [pure virtual]

Returns the rotation matrix at angle theta

Implemented in KDL::RotationalInterpolation_SingleAxis.

static RotationalInterpolation* KDL::RotationalInterpolation::Read

(

std::istream &

is

)

[static]

Reads one of the derived objects from the stream and returns a pointer (factory method)

virtual void KDL::RotationalInterpolation::SetStartEnd	(	Rotation	start,
		Rotation	end
	)			[pure virtual]

Set the start and end rotational_interpolation

Implemented in KDL::RotationalInterpolation_SingleAxis.

virtual Vector KDL::RotationalInterpolation::Vel	(	double	theta,
		double	thetad
	)			const [pure virtual]

Returns the rotational velocity at angle theta and with derivative of theta == thetad

Implemented in KDL::RotationalInterpolation_SingleAxis.

virtual void KDL::RotationalInterpolation::Write

(

std::ostream &

os

)

const [pure virtual]

Writes one of the derived objects to the stream

Implemented in KDL::RotationalInterpolation_SingleAxis.

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

• rotational_interpolation.hpp