#include <interpolators.hpp>
Public Member Functions | |
Sophus::SE3f | operator() (const double &t) |
SlidingInterpolator (const Sophus::SE3f &T_a, const Sophus::SE3f &T_b) | |
Private Attributes | |
Interpolator< Sophus::SE3f > | interpolator |
Sophus::SE3f | T_a |
Sophus::SE3f | T_b |
Sophus::SE3f::Tangent | tangent |
A special case of the interpolator that slides along the straight line connecting two frames whilst interpolating the orientation between the two.
Normal se3 interpolation will not guarantee a straight line connection if there is a rotation involved. i.e. it will swing its hips like it is dancing!
Definition at line 97 of file interpolators.hpp.
Sophus::SlidingInterpolator::SlidingInterpolator | ( | const Sophus::SE3f & | T_a, |
const Sophus::SE3f & | T_b | ||
) |
Sophus::SE3f Sophus::SlidingInterpolator::operator() | ( | const double & | t | ) |
|
private |
Definition at line 103 of file interpolators.hpp.
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private |
Definition at line 104 of file interpolators.hpp.
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private |
Definition at line 104 of file interpolators.hpp.
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private |
Definition at line 105 of file interpolators.hpp.