Public Member Functions | Private Attributes | List of all members
Sophus::PlanarInterpolator Class Reference

#include <interpolators.hpp>

Public Member Functions

Sophus::SE3f operator() (const double &t)
 
 PlanarInterpolator (const Sophus::SE3f &T_a, const Sophus::SE3f &T_b)
 

Private Attributes

Sophus::SE3f T_a
 
Sophus::SE2f t_a
 
Sophus::SE2f::Tangent tangent
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ PlanarInterpolator()

Sophus::PlanarInterpolator::PlanarInterpolator ( const Sophus::SE3f &  T_a,
const Sophus::SE3f &  T_b 
)

Member Function Documentation

◆ operator()()

Sophus::SE3f Sophus::PlanarInterpolator::operator() ( const double &  t)

Member Data Documentation

◆ T_a

Sophus::SE3f Sophus::PlanarInterpolator::T_a
private

Definition at line 84 of file interpolators.hpp.

◆ t_a

Sophus::SE2f Sophus::PlanarInterpolator::t_a
private

Definition at line 85 of file interpolators.hpp.

◆ tangent

Sophus::SE2f::Tangent Sophus::PlanarInterpolator::tangent
private

Definition at line 86 of file interpolators.hpp.


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


ecl_linear_algebra
Author(s): Daniel Stonier
autogenerated on Mon Feb 28 2022 22:18:38