robSLERP Class Reference

Define a spherical linear interpolation function. More...

#include <robSLERP.h>

Inheritance diagram for robSLERP:

Public Member Functions
	robSLERP (const vctMatrixRotation3< double > &Rw1, const vctMatrixRotation3< double > &Rw2, double wmax, double t1=0.0)
	robSLERP (const vctQuaternionRotation3< double > &qw1, const vctQuaternionRotation3< double > &qw2, double wmax, double t1=0.0)
void	Evaluate (double t, vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
	Evaluate the function.
void	Blend (robFunction *function, double wmax, double wdmax)
Public Member Functions inherited from robFunctionSO3
	robFunctionSO3 (void)
	robFunctionSO3 (double t1, const vctQuaternionRotation3< double > &qw1, const vctFixedSizeVector< double, 3 > &w1, const vctFixedSizeVector< double, 3 > &w1d, double t2, const vctQuaternionRotation3< double > &qw2, const vctFixedSizeVector< double, 3 > &w2, const vctFixedSizeVector< double, 3 > &w2d)
	robFunctionSO3 (double t1, const vctMatrixRotation3< double > &Rw1, const vctFixedSizeVector< double, 3 > &w1, const vctFixedSizeVector< double, 3 > &w1d, double t2, const vctMatrixRotation3< double > &Rw2, const vctFixedSizeVector< double, 3 > &w2, const vctFixedSizeVector< double, 3 > &w2d)
virtual	~robFunctionSO3 ()
virtual void	Evaluate (double, vctMatrixRotation3< double >, vctFixedSizeVector< double, 3 > &, vctFixedSizeVector< double, 3 > &)
void	InitialState (vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
void	FinalState (vctQuaternionRotation3< double > &q, vctFixedSizeVector< double, 3 > &w, vctFixedSizeVector< double, 3 > &wd)
Public Member Functions inherited from robFunction
	robFunction (void)
	robFunction (double startTime, double stopTime)
virtual	~robFunction ()
void	Set (double startTime, double stopTime)
	Set start and stop time.
virtual double &	StartTime (void)
	Return start time.
virtual double &	StopTime (void)
	Return stop time.
virtual double	Duration (void) const
	Return duration.

Additional Inherited Members
Protected Attributes inherited from robFunctionSO3
vctQuaternionRotation3< double >	qw1
vctFixedSizeVector< double, 3 >	w1
vctFixedSizeVector< double, 3 >	w1d
vctQuaternionRotation3< double >	qw2
vctFixedSizeVector< double, 3 >	w2
vctFixedSizeVector< double, 3 >	w2d
Protected Attributes inherited from robFunction
double	t1
double	t2

Detailed Description

Define a spherical linear interpolation function.

Constructor & Destructor Documentation

robSLERP() [1/2]

robSLERP::robSLERP	(	const vctMatrixRotation3< double > &	Rw1,
		const vctMatrixRotation3< double > &	Rw2,
		double	wmax,
		double	t1 = 0.0 )

robSLERP() [2/2]

robSLERP::robSLERP	(	const vctQuaternionRotation3< double > &	qw1,
		const vctQuaternionRotation3< double > &	qw2,
		double	wmax,
		double	t1 = 0.0 )

Member Function Documentation

Blend()

void robSLERP::Blend ( robFunction * function, double wmax, double wdmax )

virtual

Implements robFunctionSO3.

Evaluate()

void robSLERP::Evaluate ( double t, vctQuaternionRotation3< double > & q, vctFixedSizeVector< double, 3 > & w, vctFixedSizeVector< double, 3 > & wd )

virtual

Evaluate the function.

Reimplemented from robFunctionSO3.

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

• tmp/cisst-saw/cisst/cisstRobot/robSLERP.h