/usr/include/kdl/rotational_interpolation_sa.hpp is in liborocos-kdl-dev 1.3.0+dfsg-1.
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tag: Erwin Aertbelien Mon Jan 10 16:38:39 CET 2005 rotational_interpolation_sa.h
rotational_interpolation_sa.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_singleaxis.h,v 1.1.1.1.2.3 2003/07/24 13:26:15 psoetens Exp $
* $Name: $
****************************************************************************/
#ifndef KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
#define KDL_ROTATIONALINTERPOLATION_SINGLEAXIS_H
#include "frames.hpp"
#include "frames_io.hpp"
#include "rotational_interpolation.hpp"
namespace KDL {
/**
* 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 choosen, therefore it is not recommended
* to try to interpolate a 180 degrees rotation.
* @ingroup Motion
*/
class RotationalInterpolation_SingleAxis: public RotationalInterpolation
{
Rotation R_base_start;
Rotation R_base_end;
Vector rot_start_end;
double angle;
public:
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();
};
}
#endif
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