
The SplineInterpolation class represents a linear Interpolation between a series of control points Spline means that the position is calcualed by a function with the form of the ploynom. More...
#include <RobotComponents/guiplugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/SplineInterpolation.h>
Public Member Functions  
AbstractInterpolationPtr  getInterPolationSegment (int segmentNumber) 
getInterPolationSegment returns a segment of the current interpolation More...  
AbstractInterpolationPtr  getInterPolationSegment (PoseBasePtr start) 
getInterPolationSegment returns a segment of the current interpolation More...  
PoseBasePtr  getPoseAt (double time) override 
getPoseAt returns the Pose defined by f(time) More...  
SplineInterpolation (std::vector< PoseBasePtr > controlPoints)  
SplineInterpolation creates a new SplineInterpolation through a series of conntrol points. More...  
Public Member Functions inherited from AbstractInterpolation  
int  getNumberOfControlPoints () 
getNumberOfControlPoints returns number of controlPoints More...  
Additional Inherited Members  
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...  
The SplineInterpolation class represents a linear Interpolation between a series of control points Spline means that the position is calcualed by a function with the form of the ploynom.
Definition at line 36 of file SplineInterpolation.h.
SplineInterpolation  (  std::vector< PoseBasePtr >  controlPoints  ) 
SplineInterpolation creates a new SplineInterpolation through a series of conntrol points.
controlPoints  a vector of Poses that define the InterpolationFunction 
Definition at line 34 of file SplineInterpolation.cpp.
AbstractInterpolationPtr getInterPolationSegment  (  int  segmentNumber  ) 
getInterPolationSegment returns a segment of the current interpolation
Definition at line 85 of file SplineInterpolation.cpp.
AbstractInterpolationPtr getInterPolationSegment  (  PoseBasePtr  start  ) 
getInterPolationSegment returns a segment of the current interpolation
Definition at line 71 of file SplineInterpolation.cpp.

overridevirtual 
getPoseAt returns the Pose defined by f(time)
time  a time between 0 and 1 with getPoseAt(0) being the startingPose and getPoseAt(1) being the ending Pose 
Implements AbstractInterpolation.
Definition at line 47 of file SplineInterpolation.cpp.