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ROBOOP::Spl_Quaternion Class Reference

#include <trajectory.h>

List of all members.


Detailed Description

Cubic quaternions spline.

Definition at line 150 of file trajectory.h.


Public Member Functions

 Spl_Quaternion ()
 Spl_Quaternion (const std::string &filename)
 Constructor.
 Spl_Quaternion (const quat_map &quat)
 Constructor.
 Spl_Quaternion (const Spl_Quaternion &x)
 Copy constructor.
Spl_Quaternionoperator= (const Spl_Quaternion &x)
 Overload = operator.
short quat (const Real t, Quaternion &s)
 Quaternion interpollation.
short quat_w (const Real t, Quaternion &s, ColumnVector &w)
 Quaternion interpollation and angular velocity.

Private Attributes

quat_map quat_data
 Data at control points.

Constructor & Destructor Documentation

ROBOOP::Spl_Quaternion::Spl_Quaternion (  )  [inline]

Definition at line 153 of file trajectory.h.

ROBOOP::Spl_Quaternion::Spl_Quaternion ( const std::string &  filename  ) 

Constructor.

Parameters:
filename,: Quaternions spline data.
Here is an exemple of file. # is used as comment, the rest of the line is ignored. 0, 0.5 and 1.0 are the time at the control points. R indicated that the quaternion at the control point is obtained from a rotation matrix, and the data (9 elements of the matrix) is on the next line. Instead of R one could use Q to indicate a quaternion and the following line will contain 4 elements.

#
#
#
0
R
1.000000 0.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 -0.000000 -1.000000
0.5
R
0.999943 0.008696 -0.006149 0.009042 -0.998237 0.058659 -0.005628 -0.058711 -0.998259
1.0
R
0.961882 0.254807 0.099282 0.223474 -0.941661 0.251662 0.157616 -0.219882 -0.962709

Definition at line 483 of file trajectory.cpp.

ROBOOP::Spl_Quaternion::Spl_Quaternion ( const quat_map quat  ) 

Constructor.

Definition at line 603 of file trajectory.cpp.

ROBOOP::Spl_Quaternion::Spl_Quaternion ( const Spl_Quaternion x  ) 

Copy constructor.

Definition at line 610 of file trajectory.cpp.


Member Function Documentation

Spl_Quaternion & ROBOOP::Spl_Quaternion::operator= ( const Spl_Quaternion x  ) 

Overload = operator.

Definition at line 617 of file trajectory.cpp.

short ROBOOP::Spl_Quaternion::quat ( const Real  t,
Quaternion s 
)

Quaternion interpollation.

\[ S_n(t) = Squad(q_n,a_n, a(n+1),q(n+1),t) \]

Definition at line 626 of file trajectory.cpp.

short ROBOOP::Spl_Quaternion::quat_w ( const Real  t,
Quaternion s,
ColumnVector w 
)

Quaternion interpollation and angular velocity.

Definition at line 698 of file trajectory.cpp.

Referenced by ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), and ROBOOP::Dynamics::xdot().


Member Data Documentation

Data at control points.

Definition at line 161 of file trajectory.h.

Referenced by operator=(), quat(), quat_w(), and Spl_Quaternion().


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

ROBOOP v1.21a
Generated Thu Nov 22 00:51:36 2007 by Doxygen 1.5.4