RobWorkProject
24.5.15

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

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.

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