KDL::RotationalInterpolation_SingleAxis Class Reference
[Motion]

#include <rotational_interpolation_sa.hpp>

Inheritance diagram for KDL::RotationalInterpolation_SingleAxis:

Public Member Functions
virtual Vector	Acc (double th, double thd, double thdd) const
virtual double	Angle ()
virtual RotationalInterpolation *	Clone () const
virtual Rotation	Pos (double th) const
	RotationalInterpolation_SingleAxis ()
virtual void	SetStartEnd (Rotation start, Rotation end)
virtual Vector	Vel (double th, double thd) const
virtual void	Write (std::ostream &os) const
virtual	~RotationalInterpolation_SingleAxis ()
Private Attributes
double	angle
Rotation	R_base_end
Rotation	R_base_start
Vector	rot_start_end

Detailed Description

An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation. If more than one rotational axis exist, an arbitrary one will be choosen, therefore it is not recommended to try to interpolate a 180 degrees rotation.

Definition at line 63 of file rotational_interpolation_sa.hpp.

Constructor & Destructor Documentation

KDL::RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis ( )

Definition at line 48 of file rotational_interpolation_sa.cpp.

KDL::RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis ( ) [virtual]

Definition at line 78 of file rotational_interpolation_sa.cpp.

Member Function Documentation

Vector KDL::RotationalInterpolation_SingleAxis::Acc	(	double	theta,
		double	thetad,
		double	thetadd
	)			const `[virtual]`

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

Implements KDL::RotationalInterpolation.

Definition at line 66 of file rotational_interpolation_sa.cpp.

double KDL::RotationalInterpolation_SingleAxis::Angle ( ) [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.

Implements KDL::RotationalInterpolation.

Definition at line 70 of file rotational_interpolation_sa.cpp.

RotationalInterpolation * KDL::RotationalInterpolation_SingleAxis::Clone ( ) const [virtual]

virtual constructor, construction by copying ..

Implements KDL::RotationalInterpolation.

Definition at line 82 of file rotational_interpolation_sa.cpp.

Rotation KDL::RotationalInterpolation_SingleAxis::Pos ( double theta ) const [virtual]

Returns the rotation matrix at angle theta

Implements KDL::RotationalInterpolation.

Definition at line 58 of file rotational_interpolation_sa.cpp.