KDL 1.5.1
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rotational_interpolation.hpp
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1/***************************************************************************
2 tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 rotational_interpolation.h
3
4 rotational_interpolation.h - description
5 -------------------
6 begin : Mon January 10 2005
7 copyright : (C) 2005 Erwin Aertbelien
8 email : erwin.aertbelien@mech.kuleuven.ac.be
9
10 ***************************************************************************
11 * This library is free software; you can redistribute it and/or *
12 * modify it under the terms of the GNU Lesser General Public *
13 * License as published by the Free Software Foundation; either *
14 * version 2.1 of the License, or (at your option) any later version. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19 * Lesser General Public License for more details. *
20 * *
21 * You should have received a copy of the GNU Lesser General Public *
22 * License along with this library; if not, write to the Free Software *
23 * Foundation, Inc., 59 Temple Place, *
24 * Suite 330, Boston, MA 02111-1307 USA *
25 * *
26 ***************************************************************************/
27
28
29 /*****************************************************************************
30 * \author
31 * Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
32 *
33 * \version
34 * ORO_Geometry V0.2
35 *
36 * \par History
37 * - $log$
38 *
39 * \par Release
40 * $Id: rotational_interpolation.h,v 1.1.1.1.2.2 2003/02/24 13:13:06 psoetens Exp $
41 * $Name: $
42 ****************************************************************************/
43
44#ifndef KDL_ROTATIONALINTERPOLATION_H
45#define KDL_ROTATIONALINTERPOLATION_H
46
47#include "frames.hpp"
48#include "frames_io.hpp"
49
50namespace KDL {
51
63 {
64 public:
68 virtual void SetStartEnd(Rotation start,Rotation end) = 0;
69
77 virtual double Angle() = 0;
78
82 virtual Rotation Pos(double theta) const = 0;
83
88 virtual Vector Vel(double theta,double thetad) const = 0;
89
94 virtual Vector Acc(double theta,double thetad,double thetadd) const = 0;
95
99 virtual void Write(std::ostream& os) const = 0;
100
105 static RotationalInterpolation* Read(std::istream& is);
106
110 virtual RotationalInterpolation* Clone() const = 0;
111
113 };
114
115}
116
117
118#endif
represents rotations in 3 dimensional space.
Definition frames.hpp:302
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition rotational_interpolation.hpp:63
virtual Vector Vel(double theta, double thetad) const =0
Returns the rotational velocity at angle theta and with derivative of theta == thetad.
virtual RotationalInterpolation * Clone() const =0
virtual constructor, construction by copying .
virtual void Write(std::ostream &os) const =0
Writes one of the derived objects to the stream.
virtual ~RotationalInterpolation()
Definition rotational_interpolation.hpp:112
virtual Rotation Pos(double theta) const =0
Returns the rotation matrix at angle theta.
virtual double Angle()=0
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:51
virtual void SetStartEnd(Rotation start, Rotation end)=0
Set the start and end rotational_interpolation.
A concrete implementation of a 3 dimensional vector class.
Definition frames.hpp:161
Defines routines for I/O of Frame and related objects.
Definition articulatedbodyinertia.cpp:26