LinearInterpolator< rw::math::Transform3D< T > > Class Template Reference

Implements LinearInterpolator for rw::math::Transform3D<T> More...

#include <LinearInterpolator.hpp>

Inherits Interpolator< rw::math::Transform3D< T > >.

Public Types
typedef rw::core::Ptr< LinearInterpolator< rw::math::Transform3D< T > > >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const LinearInterpolator< rw::math::Transform3D< T > > >	CPtr
	smart pointer type const instance of class
Public Types inherited from Interpolator< rw::math::Transform3D< T > >
typedef rw::core::Ptr< Interpolator >	Ptr
	smart pointer type to this class

Public Member Functions
	LinearInterpolator (const rw::math::Transform3D< T > &start, const rw::math::Transform3D< T > &end, double duration)
	Construct LinearInterpolator starting a start and finishing in end and taking duration time. More...
rw::math::Transform3D< T >	x (double t) const
	Position at time t. More...
rw::math::Transform3D< T >	dx (double t) const
	Velocity at time t. More...
rw::math::Transform3D< T >	ddx (double t) const
	Acceleration at time t. More...
rw::math::Transform3D< T >	getStart () const
	Returns the start position of the interpolator. More...
rw::math::Transform3D< T >	getEnd () const
	Returns the end position of the interpolator. More...
double	duration () const
	Returns the duration of the interpolator. More...
const LinearInterpolator< rw::math::Vector3D< T > > &	getPositionInterpolator () const
	Returns LinearInterpolator for the position part of the transform. More...
const LinearInterpolator< rw::math::Rotation3D< T > > &	getRotationInterpolator () const
	Returns LinearInterpolator for the rotation part of the transform. More...
Public Member Functions inherited from Interpolator< rw::math::Transform3D< T > >
virtual	~Interpolator ()
	Virtual destructor.

Detailed Description

template<class T>
class rw::trajectory::LinearInterpolator< rw::math::Transform3D< T > >

Implements LinearInterpolator for rw::math::Transform3D<T>

The interpolation of rotation is made using Quaternions.

Constructor & Destructor Documentation

LinearInterpolator()

LinearInterpolator ( const rw::math::Transform3D< T > &  start, const rw::math::Transform3D< T > &  end, double  duration  )

inline

Construct LinearInterpolator starting a start and finishing in end and taking duration time.

If duration <= 0 an exception is thrown

Parameters

start	[in] Start of interpolator
end	[in] End of interpolator
duration	[in] Time it takes to from one end to the other.

Member Function Documentation

ddx()

rw::math::Transform3D<T> ddx ( double  t ) const

inlinevirtual

Acceleration at time t.

Parameters

t	[in] time between 0 and length

Returns

Acceleration

Implements Interpolator< rw::math::Transform3D< T > >.

duration()

double duration ( ) const

inlinevirtual

Returns the duration of the interpolator.

The duration is defined as the time it takes to move from one end of the interpolator to the other.

Returns

duration

Implements Interpolator< rw::math::Transform3D< T > >.

dx()

rw::math::Transform3D<T> dx ( double  t ) const

inlinevirtual

Velocity at time t.

Parameters

t	[in] time between 0 and length

Returns

Velocity

Implements Interpolator< rw::math::Transform3D< T > >.

getEnd()

rw::math::Transform3D<T> getEnd ( ) const

inline

Returns the end position of the interpolator.

Returns

The end position of the interpolator

getPositionInterpolator()

const LinearInterpolator<rw::math::Vector3D<T> >& getPositionInterpolator ( ) const

inline

Returns LinearInterpolator for the position part of the transform.

Note

This method is needed by ParabolicBlend

getRotationInterpolator()

const LinearInterpolator<rw::math::Rotation3D<T> >& getRotationInterpolator ( ) const

inline

Returns LinearInterpolator for the rotation part of the transform.

Note

This method is needed by ParabolicBlend

getStart()

rw::math::Transform3D<T> getStart ( ) const

inline

Returns the start position of the interpolator.

Returns

The start position of the interpolator

x()

rw::math::Transform3D<T> x ( double  t ) const

inlinevirtual

Position at time t.

Parameters

t	[in] time between 0 and length

Returns

Position

Implements Interpolator< rw::math::Transform3D< T > >.

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

• LinearInterpolator.hpp