Class CPose3DInterpolator

Defined in File CPose3DInterpolator.h

Inheritance Relationships

Base Types

public mrpt::serialization::CSerializable
public mrpt::poses::CPoseInterpolatorBase< 3 > (Template Class CPoseInterpolatorBase)

Class Documentation

class CPose3DInterpolator : public mrpt::serialization::CSerializable, public mrpt::poses::CPoseInterpolatorBase<3>

This class stores a time-stamped trajectory in SE(3) (CPose3D poses). It can also interpolate SE(3) poses over time using linear, splines or SLERP interpolation, as set in CPose3DInterpolator::setInterpolationMethod() Usage:

Insert new poses into the sequence with CPose3DInterpolator::insert()

Query an exact/interpolated pose with CPose3DInterpolator::interpolate(). Example:

CPose3DInterpolator     path;

path.setInterpolationMethod( mrpt::poses::imSplineSlerp );

path.insert( t0, mrpt::poses::CPose3D(...) );
path.insert( t1, mrpt::math::TPose3D(...) ); // prefered (faster)

mrpt::math::TPose3D p;
bool valid;

std::cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << "\n";

Time is represented with mrpt::Clock::time_point. See mrpt::system for methods and utilities to manage these time references.

See TInterpolatorMethod for the list of interpolation methods. The default method at constructor is “imLinearSlerp”.