44 #ifndef KDL_ROTATIONALINTERPOLATION_H 45 #define KDL_ROTATIONALINTERPOLATION_H 77 virtual double Angle() = 0;
88 virtual Vector Vel(
double theta,
double thetad)
const = 0;
94 virtual Vector Acc(
double theta,
double thetad,
double thetadd)
const = 0;
99 virtual void Write(std::ostream& os)
const = 0;
virtual ~RotationalInterpolation()
represents rotations in 3 dimensional space.
static RotationalInterpolation * Read(std::istream &is)
virtual RotationalInterpolation * Clone() const =0
virtual Rotation Pos(double theta) const =0
A concrete implementation of a 3 dimensional vector class.
virtual Vector Vel(double theta, double thetad) const =0
virtual void SetStartEnd(Rotation start, Rotation end)=0
virtual void Write(std::ostream &os) const =0
virtual Vector Acc(double theta, double thetad, double thetadd) const =0