us.ihmc.utilities.kinematics
Class OrientationInterpolationCalculator

java.lang.Object
  extended by us.ihmc.utilities.kinematics.OrientationInterpolationCalculator

public class OrientationInterpolationCalculator
extends java.lang.Object


Constructor Summary
OrientationInterpolationCalculator()
           
 
Method Summary
static FrameVector computeAngularAcceleration(FrameOrientation startOrientation, FrameOrientation endOrientation, double alphaDoubleDot)
          Computes the angular acceleration for an interpolation between two orientations
static FrameVector computeAngularVelocity(FrameOrientation startOrientation, FrameOrientation endOrientation, double alphaDot)
          Computes the angular velocity for an interpolation between two orientations
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

OrientationInterpolationCalculator

public OrientationInterpolationCalculator()
Method Detail

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 orientation
endOrientation - the final orientation
alphaDot - 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 orientation
endOrientation - the final orientation
alphaDoubleDot - the interpolation acceleration
Returns:
the angular acceleration of the interpolated frame, w.r.t. the startOrientation, expressed in the interpolated reference frame.