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44 #ifndef KDL_ROTATIONALINTERPOLATION_H
45 #define KDL_ROTATIONALINTERPOLATION_H
62 class RotationalInterpolation
68 virtual void SetStartEnd(Rotation start,Rotation end) = 0;
77 virtual double Angle() = 0;
82 virtual Rotation
Pos(
double theta)
const = 0;
88 virtual Vector
Vel(
double theta,
double thetad)
const = 0;
94 virtual Vector
Acc(
double theta,
double thetad,
double thetadd)
const = 0;
99 virtual void Write(std::ostream& os)
const = 0;
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:100
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.
Definition: articulatedbodyinertia.cpp:28
virtual void Write(std::ostream &os) const =0
Writes one of the derived objects to the stream.
virtual ~RotationalInterpolation()
Definition: rotational_interpolation.hpp:188
virtual Vector Acc(double theta, double thetad, double thetadd) const =0
Returns the rotational acceleration at angle theta and with derivative of theta == thetad,...
static RotationalInterpolation * Read(std::istream &is)
Reads one of the derived objects from the stream and returns a pointer (factory method)
Definition: rotational_interpolation.cpp:91
virtual RotationalInterpolation * Clone() const =0
virtual constructor, construction by copying .
virtual Rotation Pos(double theta) const =0
Returns the rotation matrix at angle theta.