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00031 package tfjava;
00032
00033 import javax.vecmath.Quat4d;
00034 import javax.vecmath.Vector3d;
00035 import javax.vecmath.Matrix4d;
00036
00048 public class TransformStorage {
00049
00051 protected Frame parentFrame;
00053 protected Frame childFrame;
00055 protected long timeStamp;
00057 protected Vector3d translation;
00059 protected Quat4d rotation;
00060
00064 public TransformStorage(Vector3d translation, Quat4d rotation, long timeStamp, Frame parentFrame, Frame childFrame) {
00065 this.childFrame = childFrame;
00066 this.parentFrame = parentFrame;
00067 this.timeStamp = timeStamp;
00068 this.translation = translation;
00069 this.rotation = rotation;
00070 }
00071
00076 public static TransformStorage interpolate(TransformStorage t1, TransformStorage t2, long time) {
00077 long time1 = t1.getTimeStamp();
00078 long time2 = t2.getTimeStamp();
00079
00080
00081 if (time1 == time2) {
00082 return t1;
00083 }
00084
00085
00086 double ratio = (double)(time - time1) / (time2 - time1);
00087
00088
00089 Vector3d transRet = new Vector3d();
00090 transRet.interpolate(t1.getTranslation(), t2.getTranslation(), ratio);
00091
00092
00093 Quat4d rotRet = new Quat4d();
00094 rotRet.interpolate(t1.getRotation(), t2.getRotation(), ratio);
00095
00096
00097
00098 return new TransformStorage(transRet, rotRet, time, t1.parentFrame, t1.childFrame);
00099 }
00100
00104 public Frame getChildFrame() {
00105 return childFrame;
00106 }
00107
00111 public Frame getParentFrame() {
00112 return parentFrame;
00113 }
00114
00118 public long getTimeStamp() {
00119 return timeStamp;
00120 }
00121
00125 public Vector3d getTranslation() {
00126 return translation;
00127 }
00128
00132 public Quat4d getRotation() {
00133 return rotation;
00134 }
00135
00139 public String toString() {
00140 return "[" + parentFrame.getFrameID() + " -> " + childFrame.getFrameID() + ", "
00141 + ((double)timeStamp / 1E9) + ", " + getTranslation() + ", " + getRotation() + "]";
00142 }
00143
00144 }