49 const Vector& _V_base_center,
81 double dist = alpha*
radius;
160 os <<
" " <<
Pos(0) << std::endl;
167 os <<
"]"<< std::endl;
represents rotations in 3 dimensional space.
virtual void Write(std::ostream &os)
Vector UnitY() const
Access to the underlying unitvectors of the rotation matrix.
virtual double PathLength()
double Normalize(double eps=epsilon)
virtual RotationalInterpolation * Clone() const =0
virtual Frame Pos(double s) const
double LengthToS(double length)
Path_Circle(const Frame &F_base_start, const Vector &V_base_center, const Vector &V_base_p, const Rotation &R_base_end, double alpha, RotationalInterpolation *otraj, double eqradius, bool _aggregate=true)
Rotation M
Orientation of the Frame.
represents both translational and rotational velocities.
virtual Rotation Pos(double theta) const =0
A concrete implementation of a 3 dimensional vector class.
RotationalInterpolation * orient
double epsilon
default precision while comparing with Equal(..,..) functions. Initialized at 0.0000001.
Vector p
origine of the Frame
virtual Twist Acc(double s, double sd, double sdd) const
virtual Vector Vel(double theta, double thetad) const =0
virtual void SetStartEnd(Rotation start, Rotation end)=0
represents a frame transformation in 3D space (rotation + translation)
virtual void Write(std::ostream &os) const =0
virtual Vector Acc(double theta, double thetad, double thetadd) const =0
const double deg2rad
the value pi/180
INLINE Rall1d< T, V, S > cos(const Rall1d< T, V, S > &arg)
virtual Twist Vel(double s, double sd) const
INLINE Rall1d< T, V, S > sin(const Rall1d< T, V, S > &arg)