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CPose2DInterpolator.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt {
15 namespace poses {
17 
18  /** This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses).
19  * It can also interpolate SE(2) poses over time using linear, splines or SLERP interpolation, as set in CPose2DInterpolator::setInterpolationMethod()
20  * Usage:
21  * - Insert new poses into the sequence with CPose2DInterpolator::insert()
22  * - Query an exact/interpolated pose with CPose2DInterpolator::interpolate().
23  * Example:
24  * \code
25  * CPose2DInterpolator path;
26  *
27  * path.setInterpolationMethod( CPose2DInterpolator::imSplineSlerp );
28  *
29  * path.insert( t0, mrpt::math::TPose2D(...) );
30  * path.insert( t1, mrpt::math::TPose2D(...) );
31  *
32  * mrpt::math::TPose2D p;
33  * bool valid;
34  *
35  * cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << endl;
36  * \endcode
37  *
38  * Time is represented with mrpt::system::TTimeStamp. See mrpt::system for methods and utilities to manage these time references.
39  *
40  * See TInterpolatorMethod for the list of interpolation methods. The default method at constructor is "imLinearSlerp".
41  *
42  * \sa CPoseOrPoint
43  * \ingroup interpolation_grp poses_grp
44  */
46  public mrpt::utils::CSerializable,
47  public mrpt::poses::CPoseInterpolatorBase<2>
48  {
49  // This must be added to any CSerializable derived class:
51 
52  }; // End of class def.
54 
55 } // End of namespace
56 } // End of namespace
57 
DEFINE_SERIALIZABLE_POST_CUSTOM_BASE(CPose3DPDFGaussianInf, CPose3DPDF)
Base class for SE(2)/SE(3) interpolators.
This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). ...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:39
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE(class_name, base_name)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...



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