KDL
1.4.0
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An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation. More...
#include <src/rotational_interpolation_sa.hpp>
Public Member Functions | |
RotationalInterpolation_SingleAxis () | |
virtual void | SetStartEnd (Rotation start, Rotation end) |
Set the start and end rotational_interpolation. More... | |
virtual double | Angle () |
virtual Rotation | Pos (double th) const |
Returns the rotation matrix at angle theta. More... | |
virtual Vector | Vel (double th, double thd) const |
Returns the rotational velocity at angle theta and with derivative of theta == thetad. More... | |
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. More... | |
virtual void | Write (std::ostream &os) const |
Writes one of the derived objects to the stream. More... | |
virtual RotationalInterpolation * | Clone () const |
virtual constructor, construction by copying . More... | |
virtual | ~RotationalInterpolation_SingleAxis () |
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... | |
Private Attributes | |
Rotation | R_base_start |
Rotation | R_base_end |
Vector | rot_start_end |
double | angle |
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 chosen, therefore it is not recommended to try to interpolate a 180 degrees rotation.
KDL::RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis | ( | ) |
Referenced by Clone().
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Returns the rotational acceleration at angle theta and with derivative of theta == thetad, and 2nd derivative of theta == thdd.
Implements KDL::RotationalInterpolation.
References R_base_start, and rot_start_end.
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Implements KDL::RotationalInterpolation.
References angle.
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virtual constructor, construction by copying .
Implements KDL::RotationalInterpolation.
References RotationalInterpolation_SingleAxis().
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Returns the rotation matrix at angle theta.
Implements KDL::RotationalInterpolation.
References R_base_start, KDL::Rotation::Rot2(), and rot_start_end.
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staticinherited |
Reads one of the derived objects from the stream and returns a pointer (factory method)
Referenced by KDL::Path::Read().
Set the start and end rotational_interpolation.
Implements KDL::RotationalInterpolation.
References angle, KDL::Rotation::GetRotAngle(), KDL::Rotation::Inverse(), R_base_end, R_base_start, and rot_start_end.
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Returns the rotational velocity at angle theta and with derivative of theta == thetad.
Implements KDL::RotationalInterpolation.
References R_base_start, and rot_start_end.
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Writes one of the derived objects to the stream.
Implements KDL::RotationalInterpolation.
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private |
Referenced by Angle(), and SetStartEnd().
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Referenced by SetStartEnd().
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Referenced by Acc(), Pos(), SetStartEnd(), and Vel().
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Referenced by Acc(), Pos(), SetStartEnd(), and Vel().