KDL::RotationalInterpolation Class Reference

#include <rotational_interpolation.hpp>

Inheritance diagram for KDL::RotationalInterpolation:
Inheritance graph

List of all members.

Public Member Functions

virtual Vector Acc (double theta, double thetad, double thetadd) const =0
virtual double Angle ()=0
virtual RotationalInterpolationClone () 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 RotationalInterpolationRead (std::istream &is)

Detailed Description

RotationalInterpolation specifies the rotational part of a geometric trajectory

Definition at line 62 of file rotational_interpolation.hpp.

Constructor & Destructor Documentation

virtual KDL::RotationalInterpolation::~RotationalInterpolation (  )  [inline, virtual]

Definition at line 112 of file rotational_interpolation.hpp.

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.

The documentation for this class was generated from the following file:
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Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013