KDL::RotationalInterpolation_SingleAxis Class Reference

#include <rotational_interpolation_sa.hpp>

Inheritance diagram for KDL::RotationalInterpolation_SingleAxis:

Public Member Functions
	RotationalInterpolation_SingleAxis ()
virtual void	SetStartEnd (Rotation start, Rotation end)
virtual double	Angle ()
virtual Rotation	Pos (double th) const
virtual Vector	Vel (double th, double thd) const
virtual Vector	Acc (double th, double thd, double thdd) const
virtual void	Write (std::ostream &os) const
virtual RotationalInterpolation *	Clone () const
virtual	~RotationalInterpolation_SingleAxis ()
Public Member Functions inherited from KDL::RotationalInterpolation
virtual	~RotationalInterpolation ()

Additional Inherited Members
Static Public Member Functions inherited from KDL::RotationalInterpolation
static RotationalInterpolation *	Read (std::istream &is)

Detailed Description

An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation. If more than one rotational axis exist, an arbitrary one will be chosen, therefore it is not recommended to try to interpolate a 180 degrees rotation.

Constructor & Destructor Documentation

RotationalInterpolation_SingleAxis()

KDL::RotationalInterpolation_SingleAxis::RotationalInterpolation_SingleAxis

(

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~RotationalInterpolation_SingleAxis()

virtual KDL::RotationalInterpolation_SingleAxis::~RotationalInterpolation_SingleAxis ( )

virtual

Member Function Documentation

Acc()

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

virtual

Returns the rotational acceleration at angle theta and with derivative of theta == thetad, and 2nd derivative of theta == thdd

Implements KDL::RotationalInterpolation.

Angle()

virtual double KDL::RotationalInterpolation_SingleAxis::Angle ( )

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.

Implements KDL::RotationalInterpolation.

Clone()

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

virtual

virtual constructor, construction by copying ..

Implements KDL::RotationalInterpolation.

Pos()

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

virtual

Returns the rotation matrix at angle theta

Implements KDL::RotationalInterpolation.

SetStartEnd()

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

virtual

Set the start and end rotational_interpolation

Implements KDL::RotationalInterpolation.

Vel()

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

virtual

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

Implements KDL::RotationalInterpolation.

Write()

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

virtual

Writes one of the derived objects to the stream

Implements KDL::RotationalInterpolation.

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

• build/orocos_kdl_install/include/kdl/rotational_interpolation_sa.hpp