Class SlidingInterpolator

Defined in File interpolators.hpp

Class Documentation

class SlidingInterpolator

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!

Public Functions

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

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