MatrixExponential.hpp

// -*- mode:C++; tab-width:4; c-basic-offset:4; indent-tabs-mode:nil -*-
 
#ifndef __MATRIX_EXPONENTIAL_HPP__
#define __MATRIX_EXPONENTIAL_HPP__
 
#include <kdl/frames.hpp>
 
namespace roboticslab
{
 
class MatrixExponential
{
public:
    enum motion
    {
        ROTATION,   
        TRANSLATION 
    };
 
    MatrixExponential(motion motionType, const KDL::Vector & axis, const KDL::Vector & origin = KDL::Vector::Zero());
 
    KDL::Frame asFrame(double theta) const;
 
    motion getMotionType() const
    { return motionType; }
 
    const KDL::Vector & getAxis() const
    { return axis; }
 
    const KDL::Vector & getOrigin() const
    { return origin; }
 
    void changeBase(const KDL::Frame & H_new_old);
 
    MatrixExponential cloneWithBase(const KDL::Frame & H_new_old) const;
 
private:
    motion motionType;
    KDL::Vector axis;
    KDL::Vector origin;
};
 
} // namespace roboticslab
 
#endif // __MATRIX_EXPONENTIAL_HPP__