KDL 1.5.1
rotational_interpolation_sa.hpp
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1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 rotational_interpolation_sa.h
3
4 rotational_interpolation_sa.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_singleaxis.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
41 * $Name: $
42 ****************************************************************************/
43
44#ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
45#define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
46
47#include "frames.hpp"
48#include "frames_io.hpp"
50
51
52namespace KDL {
53
54
64 {
68 double angle;
69 public:
71 virtual void SetStartEnd(Rotation start,Rotation end);
72 virtual double Angle();
73 virtual Rotation Pos(double th) const;
74 virtual Vector Vel(double th,double thd) const;
75 virtual Vector Acc(double th,double thd,double thdd) const;
76 virtual void Write(std::ostream& os) const;
77 virtual RotationalInterpolation* Clone() const;
79 };
80
81}
82
83
84#endif
represents rotations in 3 dimensional space.
Definition: frames.hpp:302
An interpolation algorithm which rotates a frame over the existing single rotation axis formed by sta...
Definition: rotational_interpolation_sa.hpp:64
Rotation R_base_end
Definition: rotational_interpolation_sa.hpp:66
virtual Vector Acc(double th, double thd, double thdd) const
Returns the rotational acceleration at angle theta and with derivative of theta == thetad,...
Definition: rotational_interpolation_sa.cpp:67
virtual Vector Vel(double th, double thd) const
Returns the rotational velocity at angle theta and with derivative of theta == thetad.
Definition: rotational_interpolation_sa.cpp:63
double angle
Definition: rotational_interpolation_sa.hpp:68
Rotation R_base_start
Definition: rotational_interpolation_sa.hpp:65
virtual RotationalInterpolation * Clone() const
virtual constructor, construction by copying .
Definition: rotational_interpolation_sa.cpp:83
virtual void Write(std::ostream &os) const
Writes one of the derived objects to the stream.
Definition: rotational_interpolation_sa.cpp:75
Vector rot_start_end
Definition: rotational_interpolation_sa.hpp:67
virtual double Angle()
Definition: rotational_interpolation_sa.cpp:71
virtual void SetStartEnd(Rotation start, Rotation end)
Set the start and end rotational_interpolation.
Definition: rotational_interpolation_sa.cpp:52
RotationalInterpolation_SingleAxis()
Definition: rotational_interpolation_sa.cpp:49
virtual ~RotationalInterpolation_SingleAxis()
Definition: rotational_interpolation_sa.cpp:79
virtual Rotation Pos(double th) const
Returns the rotation matrix at angle theta.
Definition: rotational_interpolation_sa.cpp:59
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:63
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
Defines routines for I/O of Frame and related objects.
Definition: articulatedbodyinertia.cpp:26