Public Member Functions | Static Public Member Functions | List of all members
KDL::RotationalInterpolation Class Referenceabstract

#include <rotational_interpolation.hpp>

Inheritance diagram for KDL::RotationalInterpolation:
Inheritance graph

Public Member Functions

virtual Vector Acc (double theta, double thetad, double thetadd) const =0
virtual double Angle ()=0
virtual RotationalInterpolationClone () const =0
virtual Rotation Pos (double theta) const =0
virtual void SetStartEnd (Rotation start, Rotation end)=0
virtual Vector Vel (double theta, double thetad) const =0
virtual void Write (std::ostream &os) const =0
virtual ~RotationalInterpolation ()

Static Public Member Functions

static RotationalInterpolationRead (std::istream &is)

Detailed Description

RotationalInterpolation specifies the rotational part of a geometric trajectory

Definition at line 62 of file rotational_interpolation.hpp.

Constructor & Destructor Documentation

◆ ~RotationalInterpolation()

virtual KDL::RotationalInterpolation::~RotationalInterpolation ( )

Definition at line 112 of file rotational_interpolation.hpp.

Member Function Documentation

◆ Acc()

virtual Vector KDL::RotationalInterpolation::Acc ( double  theta,
double  thetad,
double  thetadd 
) const
pure virtual

Returns the rotational acceleration at angle theta and with derivative of theta == thetad, and 2nd derivative of theta == thdd

Implemented in KDL::RotationalInterpolation_SingleAxis.

◆ Angle()

virtual double KDL::RotationalInterpolation::Angle ( )
pure 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.

Implemented in KDL::RotationalInterpolation_SingleAxis.

◆ Clone()

virtual RotationalInterpolation* KDL::RotationalInterpolation::Clone ( ) const
pure virtual

virtual constructor, construction by copying ..

Implemented in KDL::RotationalInterpolation_SingleAxis.

◆ Pos()

virtual Rotation KDL::RotationalInterpolation::Pos ( double  theta) const
pure virtual

Returns the rotation matrix at angle theta

Implemented in KDL::RotationalInterpolation_SingleAxis.

◆ Read()

RotationalInterpolation * KDL::RotationalInterpolation::Read ( std::istream &  is)

Reads one of the derived objects from the stream and returns a pointer (factory method)

Definition at line 53 of file rotational_interpolation.cpp.

◆ SetStartEnd()

virtual void KDL::RotationalInterpolation::SetStartEnd ( Rotation  start,
Rotation  end 
pure virtual

Set the start and end rotational_interpolation

Implemented in KDL::RotationalInterpolation_SingleAxis.

◆ Vel()

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

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

Implemented in KDL::RotationalInterpolation_SingleAxis.

◆ Write()

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

Writes one of the derived objects to the stream

Implemented in KDL::RotationalInterpolation_SingleAxis.

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

autogenerated on Thu Jun 10 2021 02:17:57