#include <rotational_interpolation_sa.hpp>
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 |
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.
Definition at line 49 of file rotational_interpolation_sa.cpp.
Definition at line 79 of file rotational_interpolation_sa.cpp.
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 67 of file rotational_interpolation_sa.cpp.
double KDL::RotationalInterpolation_SingleAxis::Angle | ( | ) | [virtual] |
Implements KDL::RotationalInterpolation.
Definition at line 71 of file rotational_interpolation_sa.cpp.
RotationalInterpolation * KDL::RotationalInterpolation_SingleAxis::Clone | ( | ) | const [virtual] |
virtual constructor, construction by copying ..
Implements KDL::RotationalInterpolation.
Definition at line 83 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 59 of file rotational_interpolation_sa.cpp.
void KDL::RotationalInterpolation_SingleAxis::SetStartEnd | ( | Rotation | start, |
Rotation | end | ||
) | [virtual] |
Set the start and end rotational_interpolation
Implements KDL::RotationalInterpolation.
Definition at line 52 of file rotational_interpolation_sa.cpp.
Vector KDL::RotationalInterpolation_SingleAxis::Vel | ( | double | theta, |
double | thetad | ||
) | const [virtual] |
Returns the rotational velocity at angle theta and with derivative of theta == thetad
Implements KDL::RotationalInterpolation.
Definition at line 63 of file rotational_interpolation_sa.cpp.
void KDL::RotationalInterpolation_SingleAxis::Write | ( | std::ostream & | os | ) | const [virtual] |
Writes one of the derived objects to the stream
Implements KDL::RotationalInterpolation.
Definition at line 75 of file rotational_interpolation_sa.cpp.
double KDL::RotationalInterpolation_SingleAxis::angle [private] |
Definition at line 68 of file rotational_interpolation_sa.hpp.
Definition at line 66 of file rotational_interpolation_sa.hpp.
Definition at line 65 of file rotational_interpolation_sa.hpp.
Definition at line 67 of file rotational_interpolation_sa.hpp.