The AbstractInterpolation class represents a function f:t>P with P being the space of all poses The function parameters are initialized when using the constructors, so using getPoseAt is fast.
More...
#include <RobotComponents/guiplugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/AbstractInterpolation.h>

virtual const QuaternionBasePtr  calculateOrientationAt (double time) 
 calculateOrientationAt calculates the rotation/orientation of the pose at a certain time More...


void  init (const std::vector< PoseBasePtr > cp) 
 init convinience method to construct the basic parts of the interpolation (copying all controlPoints) More...



static PoseBasePtr  deepCopy (PoseBasePtr org) 
 deepCopy creates a real, independent copy of a PoseBasePtr More...



std::vector< PoseBasePtr >  controlPoints 
 controlPoints the controlPoints that are interpolated between More...


The AbstractInterpolation class represents a function f:t>P with P being the space of all poses The function parameters are initialized when using the constructors, so using getPoseAt is fast.
The Interpolation can be defined by a series of controlPoints and the Interpolation Type, which are the subclasses of this class.
Definition at line 36 of file AbstractInterpolation.h.
◆ calculateOrientationAt()
const QuaternionBasePtr calculateOrientationAt 
( 
double 
time  ) 


protectedvirtual 
calculateOrientationAt calculates the rotation/orientation of the pose at a certain time
 Parameters

time  a time between 0 and 1 with calculateOrientationAt(0) being the starting Orientation and calculateOrientationAt(1) being the ending Orientation 
 Returns
 the orientation at time
Definition at line 36 of file AbstractInterpolation.cpp.
◆ deepCopy()
PoseBasePtr deepCopy 
( 
PoseBasePtr 
org  ) 


staticprotected 
deepCopy creates a real, independent copy of a PoseBasePtr
 Parameters

org  the PoseBasePtr to be cloned 
 Returns
 the cloned PoseBasePtr
Definition at line 67 of file AbstractInterpolation.cpp.
◆ getNumberOfControlPoints()
int getNumberOfControlPoints 
( 
 ) 

getNumberOfControlPoints returns number of controlPoints
 Returns
 the number of controlPoints that define the interpolation
Definition at line 53 of file AbstractInterpolation.cpp.
◆ getPoseAt()
virtual PoseBasePtr getPoseAt 
( 
double 
time  ) 


pure virtual 
◆ init()
void init 
( 
const std::vector< PoseBasePtr > 
cp  ) 


protected 
init convinience method to construct the basic parts of the interpolation (copying all controlPoints)
 Parameters

Definition at line 58 of file AbstractInterpolation.cpp.
◆ controlPoints
std::vector<PoseBasePtr> controlPoints 

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