Public Member Functions | Private Attributes
Spl_Quaternion Class Reference

Cubic quaternions spline. More...

#include <trajectory.h>

List of all members.

Public Member Functions

short quat (const Real t, Quaternion &s)
 Quaternion interpollation.
short quat_w (const Real t, Quaternion &s, ColumnVector &w)
 Quaternion interpollation and angular velocity.
 Spl_Quaternion ()
 Spl_Quaternion (const std::string &filename)
 Spl_Quaternion (const quat_map &quat)
 Constructor.

Private Attributes

quat_map quat_data
 Data at control points.

Detailed Description

Cubic quaternions spline.

Definition at line 147 of file trajectory.h.


Constructor & Destructor Documentation

Definition at line 150 of file trajectory.h.

Spl_Quaternion::Spl_Quaternion ( const std::string &  filename)

Constructor.

Definition at line 497 of file trajectory.cpp.


Member Function Documentation

short Spl_Quaternion::quat ( const Real  t,
Quaternion s 
)

Quaternion interpollation.

\[ S_n(t) = Squad(q_n,a_n, a(n+1),q(n+1),t) \]

Definition at line 503 of file trajectory.cpp.

short Spl_Quaternion::quat_w ( const Real  t,
Quaternion s,
ColumnVector &  w 
)

Quaternion interpollation and angular velocity.

Definition at line 575 of file trajectory.cpp.


Member Data Documentation

Data at control points.

Definition at line 156 of file trajectory.h.


The documentation for this class was generated from the following files:
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:55