#include <interpolators.hpp>
Public Member Functions | |
Sophus::SE3f | operator() (const double &t) |
PlanarInterpolator (const Sophus::SE3f &T_a, const Sophus::SE3f &T_b) throw (ecl::StandardException) | |
Private Attributes | |
Sophus::SE3f | T_a |
Sophus::SE2f | t_a |
Sophus::SE2f::Tangent | tangent |
A special case of the interpolator that takes two coplanar frames and interpolates between them.
The plane is defined by the first frame and the T_b_rel_a must be able to be represented by a SE2 transformation (no z-translation and yaw rotation only).
This is oft used when dealing with SE3 frames fixed on the z plane.
Definition at line 78 of file interpolators.hpp.
Sophus::PlanarInterpolator::PlanarInterpolator | ( | const Sophus::SE3f & | T_a, |
const Sophus::SE3f & | T_b | ||
) | |||
throw | ( | ecl::StandardException | |
) |
Sophus::SE3f Sophus::PlanarInterpolator::operator() | ( | const double & | t | ) |
|
private |
Definition at line 84 of file interpolators.hpp.
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private |
Definition at line 85 of file interpolators.hpp.
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private |
Definition at line 86 of file interpolators.hpp.