KDL::RotationalInterpolation Class Referenceabstract

`#include <rotational_interpolation.hpp>`

Inheritance diagram for KDL::RotationalInterpolation: [legend]

## 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

• The different derived objects specify different methods for interpolating rotations.
• SetStartEnd should be called before using the other methods
• The start and end position do NOT belong to the persistent state ! The owner of this object is responsible for setting these each time

Definition at line 62 of file rotational_interpolation.hpp.

## ◆ ~RotationalInterpolation()

 virtual KDL::RotationalInterpolation::~RotationalInterpolation ( )
inlinevirtual

Definition at line 112 of file rotational_interpolation.hpp.

## ◆ 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 )
static

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:

orocos_kdl
Author(s):
autogenerated on Thu Jun 10 2021 02:17:57