Sophus::SlidingInterpolator Class Reference

#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

Detailed Description

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.

Constructor & Destructor Documentation

SlidingInterpolator()

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

Member Function Documentation

operator()()

Sophus::SE3f Sophus::SlidingInterpolator::operator()

(

const double &

t

)

Member Data Documentation

interpolator

Interpolator<Sophus::SE3f> Sophus::SlidingInterpolator::interpolator

private

Definition at line 103 of file interpolators.hpp.

T_a

Sophus::SE3f Sophus::SlidingInterpolator::T_a

private

Definition at line 104 of file interpolators.hpp.

T_b

Sophus::SE3f Sophus::SlidingInterpolator::T_b

private

Definition at line 104 of file interpolators.hpp.

tangent

Sophus::SE3f::Tangent Sophus::SlidingInterpolator::tangent

private

Definition at line 105 of file interpolators.hpp.

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

• interpolators.hpp