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44 #ifndef KDL_ROTATIONALINTERPOLATION_H
45 #define KDL_ROTATIONALINTERPOLATION_H
62 class RotationalInterpolation
68 virtual void SetStartEnd(Rotation start,Rotation end) = 0;
77 virtual double Angle() = 0;
82 virtual Rotation
Pos(
double theta)
const = 0;
88 virtual Vector
Vel(
double theta,
double thetad)
const = 0;
94 virtual Vector
Acc(
double theta,
double thetad,
double thetadd)
const = 0;
virtual void SetStartEnd(Rotation start, Rotation end)=0
virtual Vector Vel(double theta, double thetad) const =0
virtual void Write(std::ostream &os) const =0
virtual ~RotationalInterpolation()
virtual Vector Acc(double theta, double thetad, double thetadd) const =0
static RotationalInterpolation * Read(std::istream &is)
virtual RotationalInterpolation * Clone() const =0
virtual Rotation Pos(double theta) const =0