orocos_kdl
src
rotational_interpolation_sa.cpp
Go to the documentation of this file.
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/***************************************************************************
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tag: Erwin Aertbelien Mon May 10 19:10:36 CEST 2004 rotational_interpolation_sa.cxx
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rotational_interpolation_sa.cxx - description
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-------------------
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begin : Mon May 10 2004
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copyright : (C) 2004 Erwin Aertbelien
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email : erwin.aertbelien@mech.kuleuven.ac.be
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Lesser General Public *
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* License as published by the Free Software Foundation; either *
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* version 2.1 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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/*****************************************************************************
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* \author
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* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
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*
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* \version
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* ORO_Geometry V0.2
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*
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* \par History
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* - $log$
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*
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* \par Release
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* $Id: rotational_interpolation_singleaxis.cpp,v 1.1.1.1.2.2 2003/02/24 13:13:06 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#include "
rotational_interpolation_sa.hpp
"
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#include "
trajectory.hpp
"
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namespace
KDL
{
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RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis
()
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{}
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void
RotationalInterpolation_SingleAxis::SetStartEnd
(Rotation start,Rotation end) {
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R_base_start
= start;
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R_base_end
=
end
;
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Rotation R_start_end =
R_base_start
.
Inverse
()*
R_base_end
;
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angle
= R_start_end.GetRotAngle(
rot_start_end
);
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}
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Rotation
RotationalInterpolation_SingleAxis::Pos
(
double
theta)
const
{
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return
R_base_start
*
Rotation::Rot2
(
rot_start_end
,theta);
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}
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Vector
RotationalInterpolation_SingleAxis::Vel
(
double
theta,
double
thetad)
const
{
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return
R_base_start
* (
rot_start_end
*thetad );
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}
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Vector
RotationalInterpolation_SingleAxis::Acc
(
double
theta,
double
thetad,
double
thetadd)
const
{
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return
R_base_start
* (
rot_start_end
* thetadd);
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}
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double
RotationalInterpolation_SingleAxis::Angle
() {
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return
angle
;
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}
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void
RotationalInterpolation_SingleAxis::Write
(
std::ostream
& os)
const
{
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os <<
"SingleAxis[] "
<<
std::endl
;
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}
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RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis
() {
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}
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RotationalInterpolation*
RotationalInterpolation_SingleAxis::Clone
()
const
{
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return
new
RotationalInterpolation_SingleAxis
();
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}
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}
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KDL::RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis
virtual ~RotationalInterpolation_SingleAxis()
Definition:
rotational_interpolation_sa.cpp:117
KDL::RotationalInterpolation_SingleAxis::Angle
virtual double Angle()
Definition:
rotational_interpolation_sa.cpp:109
KDL::Rotation::Rot2
static Rotation Rot2(const Vector &rotvec, double angle)
Along an arbitrary axes. rotvec should be normalized.
Definition:
frames.cpp:328
KDL::RotationalInterpolation_SingleAxis::SetStartEnd
virtual void SetStartEnd(Rotation start, Rotation end)
Definition:
rotational_interpolation_sa.cpp:90
KDL::RotationalInterpolation_SingleAxis::Clone
virtual RotationalInterpolation * Clone() const
Definition:
rotational_interpolation_sa.cpp:121
KDL::Rotation::Inverse
Rotation Inverse() const
Gives back the inverse rotation matrix of *this.
Definition:
frames.inl:637
KDL::RotationalInterpolation_SingleAxis::angle
double angle
Definition:
rotational_interpolation_sa.hpp:144
KDL::RotationalInterpolation_SingleAxis::Pos
virtual Rotation Pos(double th) const
Definition:
rotational_interpolation_sa.cpp:97
KDL::RotationalInterpolation_SingleAxis::Acc
virtual Vector Acc(double th, double thd, double thdd) const
Definition:
rotational_interpolation_sa.cpp:105
KDL
Definition:
kukaLWR_DHnew.cpp:25
KDL::RotationalInterpolation_SingleAxis::R_base_start
Rotation R_base_start
Definition:
rotational_interpolation_sa.hpp:141
KDL::RotationalInterpolation_SingleAxis::rot_start_end
Vector rot_start_end
Definition:
rotational_interpolation_sa.hpp:143
std::ostream
KDL::RotationalInterpolation_SingleAxis::R_base_end
Rotation R_base_end
Definition:
rotational_interpolation_sa.hpp:142
trajectory.hpp
KDL::RotationalInterpolation_SingleAxis::Write
virtual void Write(std::ostream &os) const
Definition:
rotational_interpolation_sa.cpp:113
KDL::RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis
RotationalInterpolation_SingleAxis()
Definition:
rotational_interpolation_sa.cpp:87
std::endl
T endl(T... args)
rotational_interpolation_sa.hpp
std::end
T end(T... args)
KDL::RotationalInterpolation_SingleAxis::Vel
virtual Vector Vel(double th, double thd) const
Definition:
rotational_interpolation_sa.cpp:101
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