119 lines
4.1 KiB
C++
119 lines
4.1 KiB
C++
/***************************************************************************
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tag: Erwin Aertbelien Mon Jan 10 16:38:38 CET 2005 rotational_interpolation.h
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rotational_interpolation.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.h,v 1.1.1.1.2.2 2003/02/24 13:13:06 psoetens Exp $
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* $Name: $
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****************************************************************************/
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#ifndef KDL_ROTATIONALINTERPOLATION_H
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#define KDL_ROTATIONALINTERPOLATION_H
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#include "frames.hpp"
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#include "frames_io.hpp"
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namespace KDL {
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/**
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* RotationalInterpolation specifies the rotational part of a geometric trajectory
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* - The different derived objects specify different methods for interpolating
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* rotations.
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* - SetStartEnd should be called before
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* using the other methods
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* - The start and end position do NOT belong to the persistent state ! The owner of this
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* object is responsible for setting these each time
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* @ingroup Motion
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*/
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class RotationalInterpolation
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{
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public:
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/**
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* Set the start and end rotational_interpolation
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*/
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virtual void SetStartEnd(Rotation start,Rotation end) = 0;
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/**
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* - Returns the angle value to move from start to end.
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* This should have units radians,
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* - With Single Axis interp corresponds to the angle rotation
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* - With Three Axis interp corresponds to the slowest of the three
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* rotations.
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*/
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virtual double Angle() = 0;
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/**
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* Returns the rotation matrix at angle theta
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*/
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virtual Rotation Pos(double theta) const = 0;
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/**
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* Returns the rotational velocity at angle theta and with
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* derivative of theta == thetad
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*/
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virtual Vector Vel(double theta,double thetad) const = 0;
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/**
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* Returns the rotational acceleration at angle theta and with
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* derivative of theta == thetad, and 2nd derivative of theta == thdd
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*/
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virtual Vector Acc(double theta,double thetad,double thetadd) const = 0;
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/**
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* Writes one of the derived objects to the stream
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*/
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virtual void Write(std::ostream& os) const = 0;
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/**
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* Reads one of the derived objects from the stream and returns a pointer
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* (factory method)
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*/
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static RotationalInterpolation* Read(std::istream& is);
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/**
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* virtual constructor, construction by copying ..
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*/
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virtual RotationalInterpolation* Clone() const = 0;
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virtual ~RotationalInterpolation() {}
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};
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}
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#endif
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