RobWorkProject  24.5.15-
Classes | Static Public Member Functions | List of all members
InterpolatorUtil Class Reference

Utilities used in the implementation of various interpolators and blends. More...

#include <InterpolatorUtil.hpp>

Classes

class  Transform2VectorWrapper
 Wraps an interpolator using rw::math::Transform3D<T> to interpolator with a vector with 7 elements. More...
 

Static Public Member Functions

template<class V , class T >
static V transToVec (const rw::math::Transform3D< T > &t)
 Converts a rw::math::Transform3D<T> to vector, in which the orientation is encoded as a quaternion. More...
 
template<class V , class T >
static rw::math::Transform3D< T > vecToTrans (const V &v)
 Converts a vector, \(v\in\mathbb{R}^7\) to rw::math::Transform3D<T> More...
 

Detailed Description

Utilities used in the implementation of various interpolators and blends.

Member Function Documentation

◆ transToVec()

static V transToVec ( const rw::math::Transform3D< T > &  t)
inlinestatic

Converts a rw::math::Transform3D<T> to vector, in which the orientation is encoded as a quaternion.

The vector defined by V must have a default constructor initializing it to be 7 long and support the "(size_t i)" to assign its elements.

◆ vecToTrans()

static rw::math::Transform3D<T> vecToTrans ( const V &  v)
inlinestatic

Converts a vector, \(v\in\mathbb{R}^7\) to rw::math::Transform3D<T>

The vector defined by V must support the "(size_t i)" to access its elements. The first 3 elements must be position and the last 4 a quaternion


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