KDL 1.5.1
Loading...
Searching...
No Matches
KDL::RotationalInterpolation Class Referenceabstract

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 RotationalInterpolationClone () const =0
 virtual constructor, construction by copying .
 
virtual ~RotationalInterpolation ()
 

Static Public Member Functions

static RotationalInterpolationRead (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.

Referenced by KDL::Path_Circle::Acc(), and KDL::Path_Line::Acc().

◆ 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.

Referenced by KDL::Path_Circle::Path_Circle(), KDL::Path_Line::Path_Line(), and KDL::Path_Line::Path_Line().

◆ Clone()

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

◆ Pos()

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

◆ 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.

Referenced by KDL::Path_Circle::Path_Circle(), KDL::Path_Line::Path_Line(), and KDL::Path_Line::Path_Line().

◆ 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.

Referenced by KDL::Path_Circle::Vel(), and KDL::Path_Line::Vel().

◆ 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.

Referenced by KDL::Path_Circle::Write(), and KDL::Path_Line::Write().


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