LinearInterpolation Class Reference

The LinearInterpolation class represents a linear Interpolation between a series of control points Linear means that the position is calcualed by a function with the Form a + time * b (with a and b as three-dimensional Vectors) More...

`#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/LinearInterpolation.h>`

Inheritance diagram for LinearInterpolation:

## Public Member Functions

PoseBasePtr getPoseAt (double time) override
getPoseAt returns the Pose defined by f(time) More...

LinearInterpolation (std::vector< PoseBasePtr > controlPoints)
LinearInterpolation creates a new LinearInterPolation defined by controlPoints. More...

Public Member Functions inherited from AbstractInterpolation
int getNumberOfControlPoints ()
getNumberOfControlPoints returns number of controlPoints More...

Protected Member Functions inherited from AbstractInterpolation
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 Protected Member Functions inherited from AbstractInterpolation
static PoseBasePtr deepCopy (PoseBasePtr org)
deepCopy creates a real, independent copy of a PoseBasePtr More...

Protected Attributes inherited from AbstractInterpolation
std::vector< PoseBasePtr > controlPoints
controlPoints the controlPoints that are interpolated between More...

## Detailed Description

The LinearInterpolation class represents a linear Interpolation between a series of control points Linear means that the position is calcualed by a function with the Form a + time * b (with a and b as three-dimensional Vectors)

Definition at line 36 of file LinearInterpolation.h.

## ◆ LinearInterpolation()

 LinearInterpolation ( std::vector< PoseBasePtr > controlPoints )

LinearInterpolation creates a new LinearInterPolation defined by controlPoints.

Parameters
 controlPoints a vector of Poses that define the Interpolation-Function

Definition at line 33 of file LinearInterpolation.cpp.

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## ◆ getPoseAt()

 PoseBasePtr getPoseAt ( double time )
overridevirtual

getPoseAt returns the Pose defined by f(time)

Parameters
 time a time between 0 and 1 with getPoseAt(0) being the startingPose and getPoseAt(1) being the ending Pose
Returns
the pose of the interpolation-function at time

Implements AbstractInterpolation.

Definition at line 52 of file LinearInterpolation.cpp.

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