orocos_kdl
src
rotational_interpolation_sa.hpp
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/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 rotational_interpolation_sa.h
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rotational_interpolation_sa.h - description
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-------------------
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begin : Mon January 10 2005
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copyright : (C) 2005 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.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
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#define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
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#include "
frames.hpp
"
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#include "
frames_io.hpp
"
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#include "
rotational_interpolation.hpp
"
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namespace
KDL
{
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class
RotationalInterpolation_SingleAxis:
public
RotationalInterpolation
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{
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Rotation
R_base_start
;
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Rotation
R_base_end
;
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Vector
rot_start_end
;
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double
angle
;
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public
:
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RotationalInterpolation_SingleAxis
();
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virtual
void
SetStartEnd
(Rotation start,Rotation end);
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virtual
double
Angle
();
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virtual
Rotation
Pos
(
double
th)
const
;
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virtual
Vector
Vel
(
double
th,
double
thd)
const
;
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virtual
Vector
Acc
(
double
th,
double
thd,
double
thdd)
const
;
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virtual
void
Write
(
std::ostream
& os)
const
;
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virtual
RotationalInterpolation*
Clone
()
const
;
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virtual
~RotationalInterpolation_SingleAxis
();
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};
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}
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#endif
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
frames.hpp
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
frames_io.hpp
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
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
rotational_interpolation.hpp
KDL::RotationalInterpolation_SingleAxis::Vel
virtual Vector Vel(double th, double thd) const
Definition:
rotational_interpolation_sa.cpp:101
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