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 | ( | ) |
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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.
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Implements KDL::RotationalInterpolation.
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virtual constructor, construction by copying .
Implements KDL::RotationalInterpolation.
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Returns the rotation matrix at angle theta.
Implements KDL::RotationalInterpolation.
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Reads one of the derived objects from the stream and returns a pointer (factory method)
Set the start and end rotational_interpolation.
Implements KDL::RotationalInterpolation.
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Returns the rotational velocity at angle theta and with derivative of theta == thetad.
Implements KDL::RotationalInterpolation.
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Writes one of the derived objects to the stream.
Implements KDL::RotationalInterpolation.
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