85 lines
3.3 KiB
C++
85 lines
3.3 KiB
C++
/***************************************************************************
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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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/**
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* An interpolation algorithm which rotates a frame over the existing
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* single rotation axis
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* formed by start and end rotation. If more than one rotational axis
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* exist, an arbitrary one will be chosen, therefore it is not recommended
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* to try to interpolate a 180 degrees rotation.
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* @ingroup Motion
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*/
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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
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