Public Member Functions | Private Attributes | List of all members
KDL::RotationalInterpolation_SingleAxis Class Reference

#include <rotational_interpolation_sa.hpp>

Inheritance diagram for KDL::RotationalInterpolation_SingleAxis:
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Public Member Functions

virtual Vector Acc (double th, double thd, double thdd) const
 
virtual double Angle ()
 
virtual RotationalInterpolationClone () 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 RotationalInterpolationRead (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

◆ RotationalInterpolation_SingleAxis()

KDL::RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis ( )

Definition at line 49 of file rotational_interpolation_sa.cpp.

◆ ~RotationalInterpolation_SingleAxis()

KDL::RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis ( )
virtual

Definition at line 79 of file rotational_interpolation_sa.cpp.

Member Function Documentation

◆ Acc()

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.

◆ Angle()

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.

◆ Clone()

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.

◆ Pos()

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.

◆ SetStartEnd()

void KDL::RotationalInterpolation_SingleAxis::SetStartEnd ( Rotation  start,
Rotation  end 
)
virtual

Set the start and end rotational_interpolation

Implements KDL::RotationalInterpolation.

Definition at line 52 of file rotational_interpolation_sa.cpp.

◆ Vel()

Vector KDL::RotationalInterpolation_SingleAxis::Vel ( double  theta,
double  thetad 
) const
virtual

Returns the rotational velocity at angle theta and with derivative of theta == thetad

Implements KDL::RotationalInterpolation.

Definition at line 63 of file rotational_interpolation_sa.cpp.

◆ Write()

void KDL::RotationalInterpolation_SingleAxis::Write ( std::ostream &  os) const
virtual

Writes one of the derived objects to the stream

Implements KDL::RotationalInterpolation.

Definition at line 75 of file rotational_interpolation_sa.cpp.

Member Data Documentation

◆ angle

double KDL::RotationalInterpolation_SingleAxis::angle
private

Definition at line 68 of file rotational_interpolation_sa.hpp.

◆ R_base_end

Rotation KDL::RotationalInterpolation_SingleAxis::R_base_end
private

Definition at line 66 of file rotational_interpolation_sa.hpp.

◆ R_base_start

Rotation KDL::RotationalInterpolation_SingleAxis::R_base_start
private

Definition at line 65 of file rotational_interpolation_sa.hpp.

◆ rot_start_end

Vector KDL::RotationalInterpolation_SingleAxis::rot_start_end
private

Definition at line 67 of file rotational_interpolation_sa.hpp.


The documentation for this class was generated from the following files:


orocos_kdl
Author(s):
autogenerated on Sat Jun 15 2019 19:18:32