00001 /*************************************************************************** 00002 tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 rotational_interpolation_sa.h 00003 00004 rotational_interpolation_sa.h - description 00005 ------------------- 00006 begin : Mon January 10 2005 00007 copyright : (C) 2005 Erwin Aertbelien 00008 email : erwin.aertbelien@mech.kuleuven.ac.be 00009 00010 *************************************************************************** 00011 * This library is free software; you can redistribute it and/or * 00012 * modify it under the terms of the GNU Lesser General Public * 00013 * License as published by the Free Software Foundation; either * 00014 * version 2.1 of the License, or (at your option) any later version. * 00015 * * 00016 * This library is distributed in the hope that it will be useful, * 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of * 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * 00019 * Lesser General Public License for more details. * 00020 * * 00021 * You should have received a copy of the GNU Lesser General Public * 00022 * License along with this library; if not, write to the Free Software * 00023 * Foundation, Inc., 59 Temple Place, * 00024 * Suite 330, Boston, MA 02111-1307 USA * 00025 * * 00026 ***************************************************************************/ 00027 00028 00029 /***************************************************************************** 00030 * \author 00031 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven 00032 * 00033 * \version 00034 * ORO_Geometry V0.2 00035 * 00036 * \par History 00037 * - $log$ 00038 * 00039 * \par Release 00040 * $Id: rotational_interpolation_singleaxis.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $ 00041 * $Name: $ 00042 ****************************************************************************/ 00043 00044 #ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H 00045 #define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H 00046 00047 #include "frames.hpp" 00048 #include "frames_io.hpp" 00049 #include "rotational_interpolation.hpp" 00050 00051 00052 namespace KDL { 00053 00054 00063 class RotationalInterpolation_SingleAxis: public RotationalInterpolation 00064 { 00065 Rotation R_base_start; 00066 Rotation R_base_end; 00067 Vector rot_start_end; 00068 double angle; 00069 public: 00070 RotationalInterpolation_SingleAxis(); 00071 virtual void SetStartEnd(Rotation start,Rotation end); 00072 virtual double Angle(); 00073 virtual Rotation Pos(double th) const; 00074 virtual Vector Vel(double th,double thd) const; 00075 virtual Vector Acc(double th,double thd,double thdd) const; 00076 virtual void Write(std::ostream& os) const; 00077 virtual RotationalInterpolation* Clone() const; 00078 virtual ~RotationalInterpolation_SingleAxis(); 00079 }; 00080 00081 } 00082 00083 00084 #endif