#include <rotational_interpolation_sa.hpp>

Inheritance diagram for KDL::RotationalInterpolation_SingleAxis:

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 ()

Public Member Functions inherited from KDL::RotationalInterpolation
virtual	~RotationalInterpolation ()

Private Attributes
double	angle

Rotation	R_base_end

Rotation	R_base_start

Vector	rot_start_end

Additional Inherited Members
Static Public Member Functions inherited from KDL::RotationalInterpolation
static RotationalInterpolation *	Read (std::istream &is)

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 chosen, 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

KDL::RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis ( )

Definition at line 49 of file rotational_interpolation_sa.cpp.

KDL::RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis ( )

virtual

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.