KDL
1.4.0
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RotationalInterpolation specifies the rotational part of a geometric trajectory. More...
#include <src/rotational_interpolation.hpp>
Public Member Functions | |
virtual void | SetStartEnd (Rotation start, Rotation end)=0 |
Set the start and end rotational_interpolation. More... | |
virtual double | Angle ()=0 |
virtual Rotation | Pos (double theta) const =0 |
Returns the rotation matrix at angle theta. More... | |
virtual Vector | Vel (double theta, double thetad) const =0 |
Returns the rotational velocity at angle theta and with derivative of theta == thetad. More... | |
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. More... | |
virtual void | Write (std::ostream &os) const =0 |
Writes one of the derived objects to the stream. More... | |
virtual RotationalInterpolation * | Clone () const =0 |
virtual constructor, construction by copying . More... | |
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) More... | |
RotationalInterpolation specifies the rotational part of a geometric trajectory.
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inlinevirtual |
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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_Circle::Acc(), and KDL::Path_Line::Acc().
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pure virtual |
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Path_Circle(), and KDL::Path_Line::Path_Line().
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pure virtual |
virtual constructor, construction by copying .
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_RoundedComposite::Add(), KDL::Path_Circle::Clone(), KDL::Path_Line::Clone(), KDL::Path_RoundedComposite::Clone(), and KDL::Path_RoundedComposite::Finish().
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pure virtual |
Returns the rotation matrix at angle theta.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Clone(), KDL::Path_Line::Clone(), KDL::Path_Circle::Pos(), KDL::Path_Line::Pos(), KDL::Path_Circle::Write(), and KDL::Path_Line::Write().
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static |
Reads one of the derived objects from the stream and returns a pointer (factory method)
Referenced by KDL::Path::Read().
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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().
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pure virtual |
Returns the rotational velocity at angle theta and with derivative of theta == thetad.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Vel(), and KDL::Path_Line::Vel().
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pure virtual |
Writes one of the derived objects to the stream.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Write(), and KDL::Path_Line::Write().