RotationSpline Class Reference

Spline for rotations. More...

#include <ignition/math/RotationSpline.hh>

Public Member Functions
	RotationSpline ()
	Constructor. Sets the autoCalc to true. More...
	~RotationSpline ()
	Destructor. Nothing is done. More...
void	AddPoint (const Quaterniond &_p)
	Adds a control point to the end of the spline. More...
void	AutoCalculate (bool _autoCalc)
	Tells the spline whether it should automatically calculate tangents on demand as points are added. More...
void	Clear ()
	Clears all the points in the spline. More...
Quaterniond	Interpolate (double _t, const bool _useShortestPath=true)
	Returns an interpolated point based on a parametric value over the whole series. More...
Quaterniond	Interpolate (const unsigned int _fromIndex, const double _t, const bool _useShortestPath=true)
	Interpolates a single segment of the spline given a parametric value. More...
const Quaterniond &	Point (const unsigned int _index) const
	Gets the detail of one of the control points of the spline. More...
unsigned int	PointCount () const
	Gets the number of control points in the spline. More...
void	RecalcTangents ()
	Recalculates the tangents associated with this spline. More...
bool	UpdatePoint (const unsigned int _index, const Quaterniond &_value)
	Updates a single point in the spline. More...

Detailed Description

Spline for rotations.

Constructor & Destructor Documentation

RotationSpline()

RotationSpline

(

)

Constructor. Sets the autoCalc to true.

~RotationSpline()

~RotationSpline

(

)

Destructor. Nothing is done.

Member Function Documentation

AddPoint()

void AddPoint

(

const Quaterniond &

_p

)

Adds a control point to the end of the spline.

Parameters

[in]

_p

control point

AutoCalculate()

void AutoCalculate

(

bool

_autoCalc

)

Tells the spline whether it should automatically calculate tangents on demand as points are added.

Remarks

The spline calculates tangents at each point automatically based on the input points. Normally it does this every time a point changes. However, if you have a lot of points to add in one go, you probably don't want to incur this overhead and would prefer to defer the calculation until you are finished setting all the points. You can do this by calling this method with a parameter of 'false'. Just remember to manually call the recalcTangents method when you are done.

Parameters

[in]

_autoCalc

If true, tangents are calculated for you whenever a point changes. If false, you must call reclacTangents to recalculate them when it best suits.

Clear()

void Clear

(

)

Clears all the points in the spline.

Interpolate() [1/2]

Quaterniond Interpolate	(	double	_t,
		const bool	_useShortestPath = true
	)

Returns an interpolated point based on a parametric value over the whole series.

Remarks

Given a t value between 0 and 1 representing the parametric distance along the whole length of the spline, this method returns an interpolated point.

Parameters

[in]	_t	Parametric value.
[in]	_useShortestPath	Defines if rotation should take the shortest possible path

Returns

The rotation, or [INF, INF, INF, INF] on error. Use Quateriond::IsFinite() to check for an error

Interpolate() [2/2]

Quaterniond Interpolate	(	const unsigned int	_fromIndex,
		const double	_t,
		const bool	_useShortestPath = true
	)

Interpolates a single segment of the spline given a parametric value.

Parameters

[in]	_fromIndex	The point index to treat as t = 0. _fromIndex + 1 is deemed to be t = 1
[in]	_t	Parametric value
[in]	_useShortestPath	Defines if rotation should take the shortest possible path

Returns

the rotation, or [INF, INF, INF, INF] on error. Use Quateriond::IsFinite() to check for an error

Point()

const Quaterniond& Point

(

const unsigned int

_index

)

const

Gets the detail of one of the control points of the spline.

Parameters

[in]

_index

the index of the control point. _index is clamped to [0, PointCount()-1].

Remarks

This point must already exist in the spline.

Returns

The quaternion at the specified point. If there are no points, then a Quaterniond with a value of [INF, INF, INF, INF] is returned.

PointCount()

unsigned int PointCount

(

)

const

Gets the number of control points in the spline.

Returns

the count

RecalcTangents()

void RecalcTangents

(

)

Recalculates the tangents associated with this spline.

Remarks

If you tell the spline not to update on demand by calling setAutoCalculate(false) then you must call this after completing your updates to the spline points.

UpdatePoint()

bool UpdatePoint	(	const unsigned int	_index,
		const Quaterniond &	_value
	)

Updates a single point in the spline.

Remarks

This point must already exist in the spline.

Parameters

[in]	_index	index
[in]	_value	the new control point value

Returns

True on success, false if _index is larger or equal than PointCount().

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

• RotationSpline.hh