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) throw (ecl::StandardException)

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

Sophus::PlanarInterpolator::PlanarInterpolator	(	const Sophus::SE3f &	T_a,
		const Sophus::SE3f &	T_b
	)
throw	(	ecl::StandardException
	)

Member Function Documentation

Sophus::SE3f Sophus::PlanarInterpolator::operator()

(

const double &

t

)

Member Data Documentation

Sophus::SE3f Sophus::PlanarInterpolator::T_a

private

Definition at line 84 of file interpolators.hpp.

Sophus::SE2f Sophus::PlanarInterpolator::t_a

private

Definition at line 85 of file interpolators.hpp.

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

private

Definition at line 86 of file interpolators.hpp.

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

• interpolators.hpp