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/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/AbstractInterpolation.h>
Inheritance diagram for AbstractInterpolation:Public Member Functions | |
| int | getNumberOfControlPoints () |
| getNumberOfControlPoints returns number of controlPoints More... | |
| virtual PoseBasePtr | getPoseAt (double time)=0 |
| getPoseAt returns the Pose defined by f(time) More... | |
Protected Member Functions | |
| 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 | |
| static PoseBasePtr | deepCopy (PoseBasePtr org) |
| deepCopy creates a real, independent copy of a PoseBasePtr More... | |
Protected Attributes | |
| std::vector< PoseBasePtr > | controlPoints |
| controlPoints the controlPoints that are interpolated between More... | |
Detailed Description
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.
Member Function Documentation
◆ calculateOrientationAt()
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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 37 of file AbstractInterpolation.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ deepCopy()
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staticprotected |
deepCopy creates a real, independent copy of a PoseBasePtr
- Parameters
-
org the PoseBasePtr to be cloned
- Returns
- the cloned PoseBasePtr
Definition at line 71 of file AbstractInterpolation.cpp.
Here is the caller graph for this function:◆ getNumberOfControlPoints()
| int getNumberOfControlPoints | ( | ) |
getNumberOfControlPoints returns number of controlPoints
- Returns
- the number of controlPoints that define the interpolation
Definition at line 56 of file AbstractInterpolation.cpp.
Here is the caller graph for this function:◆ getPoseAt()
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pure virtual |
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
Implemented in LinearInterpolation, SplineInterpolation, and SplineInterpolationSegment.
◆ init()
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protected |
init convinience method to construct the basic parts of the interpolation (copying all controlPoints)
- Parameters
-
cp the controlPoints toinitialize the Interpolation with
Definition at line 62 of file AbstractInterpolation.cpp.
Here is the call graph for this function: Here is the caller graph for this function:Member Data Documentation
◆ controlPoints
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protected |
controlPoints the controlPoints that are interpolated between
Definition at line 56 of file AbstractInterpolation.h.
The documentation for this class was generated from the following files:
- RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/AbstractInterpolation.h
- RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/AbstractInterpolation.cpp
