#include <robCubicSO3.h>

Inheritance diagram for robCubicSO3:

Public Member Functions
	robCubicSO3 (const vctMatrixRotation3< double > &Rw0, const vctMatrixRotation3< double > &Rw1, const vctMatrixRotation3< double > &Rw2, double wmax, double t1=0.0)
	Interpolate between 3 orientation using Cubic's algorithm.
	robCubicSO3 (const vctQuaternionRotation3< double > &qw0, const vctQuaternionRotation3< double > &qwmid, const vctQuaternionRotation3< double > &qw2, double wmax, double t1=0.0)
void	Evaluate (double t, vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
	Evaluate the function.
void	Blend (robFunction *function, double wmax, double wdmax)
void	IntermediateState (vctQuaternionRotation3< double > &q)
Public Member Functions inherited from robFunctionSO3
	robFunctionSO3 (void)
	robFunctionSO3 (double t1, const vctQuaternionRotation3< double > &qw1, const vctFixedSizeVector< double, 3 > &w1, const vctFixedSizeVector< double, 3 > &w1d, double t2, const vctQuaternionRotation3< double > &qw2, const vctFixedSizeVector< double, 3 > &w2, const vctFixedSizeVector< double, 3 > &w2d)
	robFunctionSO3 (double t1, const vctMatrixRotation3< double > &Rw1, const vctFixedSizeVector< double, 3 > &w1, const vctFixedSizeVector< double, 3 > &w1d, double t2, const vctMatrixRotation3< double > &Rw2, const vctFixedSizeVector< double, 3 > &w2, const vctFixedSizeVector< double, 3 > &w2d)
virtual	~robFunctionSO3 ()
virtual void	Evaluate (double, vctMatrixRotation3< double >, vctFixedSizeVector< double, 3 > &, vctFixedSizeVector< double, 3 > &)
void	InitialState (vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
void	FinalState (vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
Public Member Functions inherited from robFunction
	robFunction (void)
	robFunction (double startTime, double stopTime)
virtual	~robFunction ()
void	Set (double startTime, double stopTime)
	Set start and stop time.
virtual double &	StartTime (void)
	Return start time.
virtual double &	StopTime (void)
	Return stop time.
virtual double	Duration (void) const
	Return duration.

Additional Inherited Members
Protected Attributes inherited from robFunctionSO3
vctQuaternionRotation3< double >	qw1
vctFixedSizeVector< double, 3 >	w1
vctFixedSizeVector< double, 3 >	w1d
vctQuaternionRotation3< double >	qw2
vctFixedSizeVector< double, 3 >	w2
vctFixedSizeVector< double, 3 >	w2d
Protected Attributes inherited from robFunction
double	t1
double	t2

Constructor & Destructor Documentation

◆ robCubicSO3() [1/2]

robCubicSO3::robCubicSO3	(	const vctMatrixRotation3< double > &	Rw0,
		const vctMatrixRotation3< double > &	Rw1,
		const vctMatrixRotation3< double > &	Rw2,
		double	wmax,
		double	t1 = 0.0 )

Interpolate between 3 orientation using Cubic's algorithm.

◆ robCubicSO3() [2/2]

robCubicSO3::robCubicSO3	(	const vctQuaternionRotation3< double > &	qw0,
		const vctQuaternionRotation3< double > &	qwmid,
		const vctQuaternionRotation3< double > &	qw2,
		double	wmax,
		double	t1 = 0.0 )

Member Function Documentation

◆ Blend()

void robCubicSO3::Blend	(	robFunction *	function,
		double	wmax,
		double	wdmax )

virtual

Implements robFunctionSO3.

◆ Evaluate()

void robCubicSO3::Evaluate	(	double	t,
		vctQuaternionRotation3< double > &	q,
		vctFixedSizeVector< double, 3 > &	w,
		vctFixedSizeVector< double, 3 > &	wd )

virtual

Evaluate the function.

Reimplemented from robFunctionSO3.

◆ IntermediateState()

void robCubicSO3::IntermediateState ( vctQuaternionRotation3< double > & q )

The documentation for this class was generated from the following file:

tmp/cisst-saw/cisst/cisstRobot/robCubicSO3.h

Public Member Functions