#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 |
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
Definition at line 49 of file rotational_interpolation_sa.cpp.
Definition at line 79 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 67 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 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.
Member Data Documentation
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.
The documentation for this class was generated from the following files: