The SplineInterpolationSegment class represents the segment of a parent SplineInterpolation between two control points. More...

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

Inheritance diagram for SplineInterpolationSegment:

Public Member Functions
int	getNumberOfControlPoints ()
	always returns 2 as there are always 2 control points in a spline interpolation segment

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

	SplineInterpolationSegment (int number, AbstractInterpolationPtr parent)
	SplineInterpolationSegment creates a new SplineInterpolation.

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 SplineInterpolationSegment class represents the segment of a parent SplineInterpolation between two control points.

Constructor & Destructor Documentation

SplineInterpolationSegment	(	int	number,
		AbstractInterpolationPtr	parent )

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

int getNumberOfControlPoints ( )

always returns 2 as there are always 2 control points in a spline interpolation segment

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

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