KDL::RotationalInterpolation_SingleAxis Class Reference
[Motion]
An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation. More...
#include <rotational_interpolation_sa.hpp>
Public Member Functions | |
| virtual Vector | Acc (double th, double thd, double thdd) const |
| Returns the rotational acceleration at angle theta and with derivative of theta == thetad, and 2nd derivative of theta == thdd. | |
| virtual double | Angle () |
| |
| virtual RotationalInterpolation * | Clone () const |
| virtual constructor, construction by copying . | |
| virtual Rotation | Pos (double th) const |
| Returns the rotation matrix at angle theta. | |
| RotationalInterpolation_SingleAxis () | |
| virtual void | SetStartEnd (Rotation start, Rotation end) |
| Set the start and end rotational_interpolation. | |
| virtual Vector | Vel (double th, double thd) const |
| Returns the rotational velocity at angle theta and with derivative of theta == thetad. | |
| virtual void | Write (std::ostream &os) const |
| Writes one of the derived objects to the stream. | |
| virtual | ~RotationalInterpolation_SingleAxis () |
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 better to not try to interpolate a 180 degrees rotation (but it will 'work').
Definition at line 63 of file rotational_interpolation_sa.hpp.
Constructor & Destructor Documentation
| KDL::RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis | ( | ) |
Definition at line 49 of file rotational_interpolation_sa.cpp.
Referenced by Clone().
| KDL::RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis | ( | ) | [virtual] |
Definition at line 79 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 67 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 71 of file rotational_interpolation_sa.cpp.
| RotationalInterpolation * KDL::RotationalInterpolation_SingleAxis::Clone | ( | ) | const [virtual] |
virtual constructor, construction by copying .
Implements KDL::RotationalInterpolation.
Definition at line 83 of file rotational_interpolation_sa.cpp.
References RotationalInterpolation_SingleAxis().
| Rotation KDL::RotationalInterpolation_SingleAxis::Pos | ( | double | theta | ) | const [virtual] |
Returns the rotation matrix at angle theta.
Implements KDL::RotationalInterpolation.
Definition at line 59 of file rotational_interpolation_sa.cpp.
References KDL::Rotation::Rot2().
| void KDL::RotationalInterpolation_SingleAxis::SetStartEnd | ( | Rotation | start, | |
| Rotation | end | |||
| ) | [virtual] |
Set the start and end rotational_interpolation.
Implements KDL::RotationalInterpolation.
Definition at line 52 of file rotational_interpolation_sa.cpp.
References KDL::Rotation::GetRotAngle(), and KDL::Rotation::Inverse().
| 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 63 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 75 of file rotational_interpolation_sa.cpp.
The documentation for this class was generated from the following files:
