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KDL::RotationalInterpolation_SingleAxis Class Reference
[Motion]

#include <rotational_interpolation_sa.hpp>

Inheritance diagram for KDL::RotationalInterpolation_SingleAxis:
Inheritance graph
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List of all members.

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 ()

Private Attributes

double angle
Rotation R_base_end
Rotation R_base_start
Vector rot_start_end

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 choosen, 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 48 of file rotational_interpolation_sa.cpp.

KDL::RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis (  )  [virtual]

Definition at line 78 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 66 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 70 of file rotational_interpolation_sa.cpp.

RotationalInterpolation * KDL::RotationalInterpolation_SingleAxis::Clone (  )  const [virtual]

virtual constructor, construction by copying ..

Implements KDL::RotationalInterpolation.

Definition at line 82 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 58 of file rotational_interpolation_sa.cpp.

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

Set the start and end rotational_interpolation

Implements KDL::RotationalInterpolation.

Definition at line 51 of file rotational_interpolation_sa.cpp.

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 62 of file rotational_interpolation_sa.cpp.

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 74 of file rotational_interpolation_sa.cpp.


Member Data Documentation

Definition at line 68 of file rotational_interpolation_sa.hpp.

Definition at line 66 of file rotational_interpolation_sa.hpp.

Definition at line 65 of file rotational_interpolation_sa.hpp.

Definition at line 67 of file rotational_interpolation_sa.hpp.


The documentation for this class was generated from the following files:
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orocos_kdl
Author(s): Ruben Smits, Erwin Aertbelien, Orocos Developers
autogenerated on Fri Mar 1 16:20:17 2013