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44 #ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
45 #define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
63 class RotationalInterpolation_SingleAxis:
public RotationalInterpolation
71 virtual void SetStartEnd(Rotation start,Rotation end);
72 virtual double Angle();
73 virtual Rotation
Pos(
double th)
const;
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;
77 virtual RotationalInterpolation*
Clone()
const;
virtual ~RotationalInterpolation_SingleAxis()
Definition: rotational_interpolation_sa.cpp:117
virtual double Angle()
Definition: rotational_interpolation_sa.cpp:109
static Rotation Rot2(const Vector &rotvec, double angle)
Along an arbitrary axes. rotvec should be normalized.
Definition: frames.cpp:304
virtual void SetStartEnd(Rotation start, Rotation end)
Set the start and end rotational_interpolation.
Definition: rotational_interpolation_sa.cpp:90
virtual RotationalInterpolation * Clone() const
virtual constructor, construction by copying .
Definition: rotational_interpolation_sa.cpp:121
Rotation Inverse() const
Gives back the inverse rotation matrix of *this.
Definition: frames.inl:632
double angle
Definition: rotational_interpolation_sa.hpp:144
virtual Rotation Pos(double th) const
Returns the rotation matrix at angle theta.
Definition: rotational_interpolation_sa.cpp:97
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:105
Definition: articulatedbodyinertia.cpp:28
Rotation R_base_start
Definition: rotational_interpolation_sa.hpp:141
Vector rot_start_end
Definition: rotational_interpolation_sa.hpp:143
Rotation R_base_end
Definition: rotational_interpolation_sa.hpp:142
virtual void Write(std::ostream &os) const
Writes one of the derived objects to the stream.
Definition: rotational_interpolation_sa.cpp:113
RotationalInterpolation_SingleAxis()
Definition: rotational_interpolation_sa.cpp:87
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:101