#include <rotational_interpolation.hpp>
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) |
RotationalInterpolation specifies the rotational part of a geometric trajectory
Definition at line 62 of file rotational_interpolation.hpp.
virtual KDL::RotationalInterpolation::~RotationalInterpolation | ( | ) | [inline, virtual] |
Definition at line 112 of file rotational_interpolation.hpp.
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] |
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.
RotationalInterpolation * KDL::RotationalInterpolation::Read | ( | std::istream & | is | ) | [static] |
Reads one of the derived objects from the stream and returns a pointer (factory method)
Definition at line 53 of file rotational_interpolation.cpp.
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.