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)
	LinearInterpolation (std::vector< PoseBasePtr > controlPoints)
	LinearInterpolation creates a new LinearInterPolation defined by controlPoints.
Public Member Functions inherited from AbstractInterpolation
int	getNumberOfControlPoints ()
	getNumberOfControlPoints returns number of controlPoints

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
void	init (const std::vector< PoseBasePtr > cp)
	init convinience method to construct the basic parts of the interpolation (copying all controlPoints)
Static Protected Member Functions inherited from AbstractInterpolation
static PoseBasePtr	deepCopy (PoseBasePtr org)
	deepCopy creates a real, independent copy of a PoseBasePtr
Protected Attributes inherited from AbstractInterpolation
std::vector< PoseBasePtr >	controlPoints
	controlPoints the controlPoints that are interpolated between

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)

Constructor & Destructor Documentation

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

Member Function Documentation

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.

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

• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/LinearInterpolation.h
• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/LinearInterpolation.cpp