44 #ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H 45 #define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H 72 virtual double Angle();
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;
represents rotations in 3 dimensional space.
Definition: frames.hpp:301
double angle
Definition: rotational_interpolation_sa.hpp:68
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
virtual ~RotationalInterpolation_SingleAxis()
Definition: rotational_interpolation_sa.cpp:79
Rotation R_base_start
Definition: rotational_interpolation_sa.hpp:65
Defines routines for I/O of Frame and related objects.
Rotation R_base_end
Definition: rotational_interpolation_sa.hpp:66
virtual RotationalInterpolation * Clone() const
virtual constructor, construction by copying .
Definition: rotational_interpolation_sa.cpp:83
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:62
RotationalInterpolation_SingleAxis()
Definition: rotational_interpolation_sa.cpp:49
virtual void Write(std::ostream &os) const
Writes one of the derived objects to the stream.
Definition: rotational_interpolation_sa.cpp:75
virtual Rotation Pos(double th) const
Returns the rotation matrix at angle theta.
Definition: rotational_interpolation_sa.cpp:59
Definition: articulatedbodyinertia.cpp:28
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:160
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
An interpolation algorithm which rotates a frame over the existing single rotation axis formed by sta...
Definition: rotational_interpolation_sa.hpp:63