#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) |
Detailed Description
RotationalInterpolation specifies the rotational part of a geometric trajectory
- The different derived objects specify different methods for interpolating rotations.
- SetStartEnd should be called before using the other methods
- The start and end position do NOT belong to the persistent state ! The owner of this object is responsible for setting these each time
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.
| 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.
The documentation for this class was generated from the following files: