KDL::RotationalInterpolation Class Reference

RotationalInterpolation specifies the rotational part of a geometric trajectory. More...

#include <src/rotational_interpolation.hpp>

Inheritance diagram for KDL::RotationalInterpolation:

Public Member Functions
virtual void	SetStartEnd (Rotation start, Rotation end)=0
	Set the start and end rotational_interpolation.
virtual double	Angle ()=0
virtual Rotation	Pos (double theta) const =0
	Returns the rotation matrix at angle theta.
virtual Vector	Vel (double theta, double thetad) const =0
	Returns the rotational velocity at angle theta and with derivative of theta == thetad.
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.
virtual void	Write (std::ostream &os) const =0
	Writes one of the derived objects to the stream.
virtual RotationalInterpolation *	Clone () const =0
	virtual constructor, construction by copying .
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)

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()

virtual KDL::RotationalInterpolation::~RotationalInterpolation ( )

inlinevirtual

Member Function Documentation

Acc()

virtual Vector KDL::RotationalInterpolation::Acc ( double theta, double thetad, double thetadd ) const

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.

Angle()

virtual double KDL::RotationalInterpolation::Angle ( )

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.

Clone()

virtual RotationalInterpolation * KDL::RotationalInterpolation::Clone ( ) const

pure virtual

virtual constructor, construction by copying .

Implemented in KDL::RotationalInterpolation_SingleAxis.

Pos()

virtual Rotation KDL::RotationalInterpolation::Pos ( double theta ) const

pure virtual

Returns the rotation matrix at angle theta.

Implemented in KDL::RotationalInterpolation_SingleAxis.

Read()

RotationalInterpolation * KDL::RotationalInterpolation::Read ( std::istream & is )

static

Reads one of the derived objects from the stream and returns a pointer (factory method)

Referenced by KDL::Path::Read().

SetStartEnd()

virtual void KDL::RotationalInterpolation::SetStartEnd ( Rotation start, Rotation end )

pure virtual

Set the start and end rotational_interpolation.

Implemented in KDL::RotationalInterpolation_SingleAxis.

Vel()

virtual Vector KDL::RotationalInterpolation::Vel ( double theta, double thetad ) const

pure virtual

Returns the rotational velocity at angle theta and with derivative of theta == thetad.

Implemented in KDL::RotationalInterpolation_SingleAxis.

Write()

virtual void KDL::RotationalInterpolation::Write ( std::ostream & os ) const

pure virtual

Writes one of the derived objects to the stream.

Implemented in KDL::RotationalInterpolation_SingleAxis.

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The documentation for this class was generated from the following files:

• src/rotational_interpolation.hpp
• src/rotational_interpolation.cpp