rotational_interpolation_sa.hpp
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00001 /***************************************************************************
00002   tag: Erwin Aertbelien  Mon Jan 10 16:38:39 CET 2005  rotational_interpolation_sa.h
00003 
00004                         rotational_interpolation_sa.h -  description
00005                            -------------------
00006     begin                : Mon January 10 2005
00007     copyright            : (C) 2005 Erwin Aertbelien
00008     email                : erwin.aertbelien@mech.kuleuven.ac.be
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This library is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this library; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 
00028 
00029  /*****************************************************************************
00030  *  \author
00031  *      Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
00032  *
00033  *  \version
00034  *              ORO_Geometry V0.2
00035  *
00036  *      \par History
00037  *              - $log$
00038  *
00039  *      \par Release
00040  *              $Id: rotational_interpolation_singleaxis.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
00041  *              $Name:  $
00042  ****************************************************************************/
00043 
00044 #ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
00045 #define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
00046 
00047 #include "frames.hpp"
00048 #include "frames_io.hpp"
00049 #include "rotational_interpolation.hpp"
00050 
00051 
00052 namespace KDL {
00053 
00054 
00063 class RotationalInterpolation_SingleAxis: public RotationalInterpolation
00064         {
00065                 Rotation R_base_start;
00066                 Rotation R_base_end;
00067                 Vector rot_start_end;
00068                 double angle;
00069         public:
00070                 RotationalInterpolation_SingleAxis();
00071                 virtual void SetStartEnd(Rotation start,Rotation end);
00072                 virtual double Angle();
00073                 virtual Rotation Pos(double th) const;
00074                 virtual Vector Vel(double th,double thd) const;
00075                 virtual Vector Acc(double th,double thd,double thdd)   const;
00076                 virtual void Write(std::ostream& os) const;
00077                 virtual RotationalInterpolation* Clone() const;
00078                 virtual ~RotationalInterpolation_SingleAxis();
00079         };
00080 
00081 }
00082 
00083 
00084 #endif


orocos_kdl
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autogenerated on Wed Aug 26 2015 15:14:14