提交依赖与构建产物

2026-06-27 09:25:04 -04:00
parent 2817cba164
commit f0e96308d2
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--- a/kdl_install/include/kdl/rotational_interpolation.hpp
+++ b/kdl_install/include/kdl/rotational_interpolation.hpp
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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