KDL::RotationalInterpolation Class Reference

#include <rotational_interpolation.hpp>

Inheritance diagram for KDL::RotationalInterpolation:

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 ( )

inlinevirtual

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:

• rotational_interpolation.hpp
• rotational_interpolation.cpp