RotationalInterpolation specifies the rotational part of a geometric trajectory. More...
#include <src/rotational_interpolation.hpp>
Public Member Functions | |
| virtual void | SetStartEnd (Rotation start, Rotation end)=0 |
| Set the start and end rotational_interpolation. More... | |
| virtual double | Angle ()=0 |
| virtual Rotation | Pos (double theta) const =0 |
| Returns the rotation matrix at angle theta. More... | |
| virtual Vector | Vel (double theta, double thetad) const =0 |
| Returns the rotational velocity at angle theta and with derivative of theta == thetad. More... | |
| virtual Vector | Acc (double theta, double thetad, double thetadd) const =0 |
| 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 =0 |
| Writes one of the derived objects to the stream. More... | |
| virtual RotationalInterpolation * | Clone () const =0 |
| virtual constructor, construction by copying . More... | |
| virtual | ~RotationalInterpolation () |
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... | |
Detailed Description
RotationalInterpolation specifies the rotational part of a geometric trajectory.
- The different derived objects specify different methods for interpolating rotations.
- SetStartEnd should be called before using the other methods
- The start and end position do NOT belong to the persistent state ! The owner of this object is responsible for setting these each time
Constructor & Destructor Documentation
◆ ~RotationalInterpolation()
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inlinevirtual |
Member Function Documentation
◆ Acc()
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pure virtual |
Returns the rotational acceleration at angle theta and with derivative of theta == thetad, and 2nd derivative of theta == thdd.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Acc(), and KDL::Path_Line::Acc().
◆ Angle()
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pure virtual |
- Returns the angle value to move from start to end. This should have units radians,
- With Single Axis interp corresponds to the angle rotation
- With Three Axis interp corresponds to the slowest of the three rotations.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Path_Circle(), and KDL::Path_Line::Path_Line().
◆ Clone()
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pure virtual |
virtual constructor, construction by copying .
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_RoundedComposite::Add(), KDL::Path_Circle::Clone(), KDL::Path_Line::Clone(), KDL::Path_RoundedComposite::Clone(), and KDL::Path_RoundedComposite::Finish().
◆ Pos()
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pure virtual |
Returns the rotation matrix at angle theta.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Clone(), KDL::Path_Line::Clone(), KDL::Path_Circle::Pos(), KDL::Path_Line::Pos(), KDL::Path_Circle::Write(), and KDL::Path_Line::Write().
◆ Read()
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static |
Reads one of the derived objects from the stream and returns a pointer (factory method)
Referenced by KDL::Path::Read().
◆ SetStartEnd()
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pure virtual |
Set the start and end rotational_interpolation.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Path_Circle(), and KDL::Path_Line::Path_Line().
◆ Vel()
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pure virtual |
Returns the rotational velocity at angle theta and with derivative of theta == thetad.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Vel(), and KDL::Path_Line::Vel().
◆ Write()
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pure virtual |
Writes one of the derived objects to the stream.
Implemented in KDL::RotationalInterpolation_SingleAxis.
Referenced by KDL::Path_Circle::Write(), and KDL::Path_Line::Write().
The documentation for this class was generated from the following files:
