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/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/SplineInterpolation.h>
Inheritance diagram for SplineInterpolation:Public Member Functions | |
| AbstractInterpolationPtr | getInterPolationSegment (int segmentNumber) |
| getInterPolationSegment returns a segment of the current interpolation | |
| AbstractInterpolationPtr | getInterPolationSegment (PoseBasePtr start) |
| getInterPolationSegment returns a segment of the current interpolation | |
| PoseBasePtr | getPoseAt (double time) override |
| getPoseAt returns the Pose defined by f(time) | |
| SplineInterpolation (std::vector< PoseBasePtr > controlPoints) | |
| SplineInterpolation creates a new SplineInterpolation through a series of conntrol points. | |
| 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 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.
Constructor & Destructor Documentation
◆ SplineInterpolation()
| SplineInterpolation | ( | std::vector< PoseBasePtr > | controlPoints | ) |
SplineInterpolation creates a new SplineInterpolation through a series of conntrol points.
- Parameters
-
controlPoints a vector of Poses that define the Interpolation-Function
Member Function Documentation
◆ getInterPolationSegment() [1/2]
| AbstractInterpolationPtr getInterPolationSegment | ( | int | segmentNumber | ) |
getInterPolationSegment returns a segment of the current interpolation
- Returns
- the shared_ptr to an interpolation Function that is a scaled Interval of this Interpolation
◆ getInterPolationSegment() [2/2]
| AbstractInterpolationPtr getInterPolationSegment | ( | PoseBasePtr | start | ) |
getInterPolationSegment returns a segment of the current interpolation
- Returns
- the shared_ptr to an interpolation Function that is a scaled Interval of this Interpolation
◆ 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.
The documentation for this class was generated from the following files:
- RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/SplineInterpolation.h
- RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/SplineInterpolation.cpp
