#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.
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inlinevirtual |
Definition at line 112 of file rotational_interpolation.hpp.
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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.
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pure virtual |
Implemented in KDL::RotationalInterpolation_SingleAxis.
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pure virtual |
virtual constructor, construction by copying ..
Implemented in KDL::RotationalInterpolation_SingleAxis.
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pure virtual |
Returns the rotation matrix at angle theta
Implemented in KDL::RotationalInterpolation_SingleAxis.
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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.
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pure virtual |
Set the start and end rotational_interpolation
Implemented in KDL::RotationalInterpolation_SingleAxis.
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pure virtual |
Returns the rotational velocity at angle theta and with derivative of theta == thetad
Implemented in KDL::RotationalInterpolation_SingleAxis.
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pure virtual |
Writes one of the derived objects to the stream
Implemented in KDL::RotationalInterpolation_SingleAxis.