44 #ifndef KDL_ROTATIONALINTERPOLATION_H
45 #define KDL_ROTATIONALINTERPOLATION_H
88 virtual Vector Vel(
double theta,
double thetad)
const = 0;
94 virtual Vector Acc(
double theta,
double thetad,
double thetadd)
const = 0;
99 virtual void Write(std::ostream& os)
const = 0;
represents rotations in 3 dimensional space.
Definition: frames.hpp:302
RotationalInterpolation specifies the rotational part of a geometric trajectory.
Definition: rotational_interpolation.hpp:63
virtual Vector Vel(double theta, double thetad) const =0
Returns the rotational velocity at angle theta and with derivative of theta == thetad.
virtual RotationalInterpolation * Clone() const =0
virtual constructor, construction by copying .
virtual void Write(std::ostream &os) const =0
Writes one of the derived objects to the stream.
virtual ~RotationalInterpolation()
Definition: rotational_interpolation.hpp:112
virtual Rotation Pos(double theta) const =0
Returns the rotation matrix at angle theta.
virtual Vector Acc(double theta, double thetad, double thetadd) const =0
Returns the rotational acceleration at angle theta and with derivative of theta == thetad,...
static RotationalInterpolation * Read(std::istream &is)
Reads one of the derived objects from the stream and returns a pointer (factory method)
Definition: rotational_interpolation.cpp:51
virtual void SetStartEnd(Rotation start, Rotation end)=0
Set the start and end rotational_interpolation.
A concrete implementation of a 3 dimensional vector class.
Definition: frames.hpp:161
Defines routines for I/O of Frame and related objects.
Definition: articulatedbodyinertia.cpp:26