rotational_interpolation.hpp
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1 /***************************************************************************
2  tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 rotational_interpolation.h
3 
4  rotational_interpolation.h - description
5  -------------------
6  begin : Mon January 10 2005
7  copyright : (C) 2005 Erwin Aertbelien
8  email : erwin.aertbelien@mech.kuleuven.ac.be
9 
10  ***************************************************************************
11  * This library is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This library is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this library; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 
28 
29  /*****************************************************************************
30  * \author
31  * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32  *
33  * \version
34  * ORO_Geometry V0.2
35  *
36  * \par History
37  * - $log$
38  *
39  * \par Release
40  * $Id: rotational_interpolation.h,v 1.1.1.1.2.2 2003/02/24 13:13:06 psoetens Exp $
41  * $Name: $
42  ****************************************************************************/
43 
44 #ifndef KDL_ROTATIONALINTERPOLATION_H
45 #define KDL_ROTATIONALINTERPOLATION_H
46 
47 #include "frames.hpp"
48 #include "frames_io.hpp"
49 
50 namespace KDL {
51 
63  {
64  public:
68  virtual void SetStartEnd(Rotation start,Rotation end) = 0;
69 
77  virtual double Angle() = 0;
78 
82  virtual Rotation Pos(double theta) const = 0;
83 
88  virtual Vector Vel(double theta,double thetad) const = 0;
89 
94  virtual Vector Acc(double theta,double thetad,double thetadd) const = 0;
95 
99  virtual void Write(std::ostream& os) const = 0;
100 
105  static RotationalInterpolation* Read(std::istream& is);
106 
110  virtual RotationalInterpolation* Clone() const = 0;
111 
113  };
114 
115 }
116 
117 
118 #endif
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
static RotationalInterpolation * Read(std::istream &is)
virtual RotationalInterpolation * Clone() const =0
virtual Rotation Pos(double theta) const =0
virtual double Angle()=0
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
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


orocos_kdl
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autogenerated on Tue Sep 1 2020 03:18:51