us.ihmc.utilities.kinematics
Class OrientationInterpolationCalculator
java.lang.Object
us.ihmc.utilities.kinematics.OrientationInterpolationCalculator
public class OrientationInterpolationCalculator
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
OrientationInterpolationCalculator
public OrientationInterpolationCalculator()
computeAngularVelocity
public static FrameVector computeAngularVelocity(FrameOrientation startOrientation,
FrameOrientation endOrientation,
double alphaDot)
- Computes the angular velocity for an interpolation between two orientations
- Parameters:
startOrientation
- the starting orientationendOrientation
- the final orientationalphaDot
- the interpolation rate
- Returns:
- the angular velocity of the interpolated frame, w.r.t. the startOrientation, expressed in the frame in which the orientations were expressed
computeAngularAcceleration
public static FrameVector computeAngularAcceleration(FrameOrientation startOrientation,
FrameOrientation endOrientation,
double alphaDoubleDot)
- Computes the angular acceleration for an interpolation between two orientations
- Parameters:
startOrientation
- the starting orientationendOrientation
- the final orientationalphaDoubleDot
- the interpolation acceleration
- Returns:
- the angular acceleration of the interpolated frame, w.r.t. the startOrientation, expressed in the interpolated reference frame.