SplineInterpolationSegment Class Reference
The SplineInterpolationSegment class represents the segment of a parent SplineInterpolation between two control points. More...
Inheritance diagram for SplineInterpolationSegment:Public Member Functions | |
| int | getNumberOfControlPoints () |
| always returns 2 as there are always 2 control points in a spline interpolation segment More... | |
| PoseBasePtr | getPoseAt (double time) override |
| getPoseAt returns the Pose defined by f(time) More... | |
| SplineInterpolationSegment (int number, AbstractInterpolationPtr parent) | |
| SplineInterpolationSegment creates a new SplineInterpolation. 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... | |
Detailed Description
The SplineInterpolationSegment class represents the segment of a parent SplineInterpolation between two control points.
Definition at line 32 of file SplineInterpolationSegment.h.
Constructor & Destructor Documentation
◆ SplineInterpolationSegment()
| SplineInterpolationSegment | ( | int | number, |
| AbstractInterpolationPtr | parent | ||
| ) |
SplineInterpolationSegment creates a new SplineInterpolation.
- Parameters
-
number the number of the control point at the beginning of the interval (from 0 to controlPoints-2) parent the SplineInterpolation that the created Object is the segment of
Definition at line 28 of file SplineInterpolationSegment.cpp.
Member Function Documentation
◆ getNumberOfControlPoints()
| int getNumberOfControlPoints | ( | ) |
always returns 2 as there are always 2 control points in a spline interpolation segment
Definition at line 50 of file SplineInterpolationSegment.cpp.
◆ getPoseAt()
|
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 40 of file SplineInterpolationSegment.cpp.
The documentation for this class was generated from the following files:
- RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/SplineInterpolationSegment.h
- RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/SplineInterpolationSegment.cpp
