/usr/include/kdl/rotational_interpolation.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 rotational_interpolation.h
rotational_interpolation.h - description
-------------------
begin : Mon January 10 2005
copyright : (C) 2005 Erwin Aertbelien
email : erwin.aertbelien@mech.kuleuven.ac.be
***************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, *
* Suite 330, Boston, MA 02111-1307 USA *
* *
***************************************************************************/
/*****************************************************************************
* \author
* Erwin Aertbelien, Div. PMA, Dep. of Mech. Eng., K.U.Leuven
*
* \version
* ORO_Geometry V0.2
*
* \par History
* - $log$
*
* \par Release
* $Id: rotational_interpolation.h,v 1.1.1.1.2.2 2003/02/24 13:13:06 psoetens Exp $
* $Name: $
****************************************************************************/
#ifndef KDL_ROTATIONALINTERPOLATION_H
#define KDL_ROTATIONALINTERPOLATION_H
#include "frames.hpp"
#include "frames_io.hpp"
namespace KDL {
/**
* 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
* @ingroup Motion
*/
class RotationalInterpolation
{
public:
/**
* Set the start and end rotational_interpolation
*/
virtual void SetStartEnd(Rotation start,Rotation end) = 0;
/**
* - 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.
*/
virtual double Angle() = 0;
/**
* Returns the rotation matrix at angle theta
*/
virtual Rotation Pos(double theta) const = 0;
/**
* Returns the rotational velocity at angle theta and with
* derivative of theta == thetad
*/
virtual Vector Vel(double theta,double thetad) const = 0;
/**
* Returns the rotational acceleration at angle theta and with
* derivative of theta == thetad, and 2nd derivative of theta == thdd
*/
virtual Vector Acc(double theta,double thetad,double thetadd) const = 0;
/**
* Writes one of the derived objects to the stream
*/
virtual void Write(std::ostream& os) const = 0;
/**
* Reads one of the derived objects from the stream and returns a pointer
* (factory method)
*/
static RotationalInterpolation* Read(std::istream& is);
/**
* virtual constructor, construction by copying ..
*/
virtual RotationalInterpolation* Clone() const = 0;
virtual ~RotationalInterpolation() {}
};
}
#endif
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