KDL::RotationalInterpolation Class Reference
[Motion]
RotationalInterpolation specifies the rotational part of a geometric trajectory
- The different derived objects specify different methods for interpolating rotations.
#include <rotational_interpolation.hpp>
Public Member Functions | |
| virtual Vector | Acc (double theta, double thetad, double thetadd) const =0 |
| Returns the rotational acceleration at angle theta and with derivative of theta == thetad, and 2nd derivative of theta == thdd. | |
| virtual double | Angle ()=0 |
| |
| virtual RotationalInterpolation * | Clone () const =0 |
| virtual constructor, construction by copying . | |
| virtual Rotation | Pos (double theta) const =0 |
| Returns the rotation matrix at angle theta. | |
| virtual void | SetStartEnd (Rotation start, Rotation end)=0 |
| Set the start and end rotational_interpolation. | |
| virtual Vector | Vel (double theta, double thetad) const =0 |
| Returns the rotational velocity at angle theta and with derivative of theta == thetad. | |
| virtual void | Write (std::ostream &os) const =0 |
| Writes one of the derived objects to the stream. | |
| virtual | ~RotationalInterpolation () |
Static Public Member Functions | |
| static RotationalInterpolation * | Read (std::istream &is) |
| Reads one of the derived objects from the stream and returns a pointer (factory method). | |
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.
Constructor & Destructor Documentation
| virtual KDL::RotationalInterpolation::~RotationalInterpolation | ( | ) | [inline, virtual] |
Definition at line 112 of file rotational_interpolation.hpp.
Member Function Documentation
| 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.
Referenced by KDL::Path_Line::Acc(), and KDL::Path_Circle::Acc().
| 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.
Referenced by KDL::Path_Circle::Path_Circle(), and KDL::Path_Line::Path_Line().
| virtual RotationalInterpolation* KDL::RotationalInterpolation::Clone | ( | ) | const [pure virtual] |
virtual constructor, construction by copying .
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_RoundedComposite::Add(), KDL::Path_Line::Clone(), KDL::Path_Circle::Clone(), and KDL::Path_RoundedComposite::Finish().
| virtual Rotation KDL::RotationalInterpolation::Pos | ( | double | theta | ) | const [pure virtual] |
Returns the rotation matrix at angle theta.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Line::Clone(), KDL::Path_Circle::Clone(), KDL::Path_Line::Pos(), KDL::Path_Circle::Pos(), KDL::Path_Line::Write(), and KDL::Path_Circle::Write().
| 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.
References KDL::Eat(), KDL::EatEnd(), KDL::EatWord(), KDL::IOTrace(), and KDL::IOTracePop().
Referenced by KDL::Path::Read().
| virtual void KDL::RotationalInterpolation::SetStartEnd | ( | Rotation | start, | |
| Rotation | end | |||
| ) | [pure virtual] |
Set the start and end rotational_interpolation.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Path_Circle(), and KDL::Path_Line::Path_Line().
| 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.
Referenced by KDL::Path_Line::Vel(), and KDL::Path_Circle::Vel().
| 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.
Referenced by KDL::Path_Line::Write(), and KDL::Path_Circle::Write().
The documentation for this class was generated from the following files:
