CPose2DInterpolator.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/poses/CPoseInterpolatorBase.h>
#include <mrpt/utils/CSerializable.h>

namespace mrpt {
namespace poses {
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CPose2DInterpolator, mrpt::utils::CSerializable )

        /** This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses).
          *  It can also interpolate SE(2) poses over time using linear, splines or SLERP interpolation, as set in CPose2DInterpolator::setInterpolationMethod()
          *  Usage:
          *   - Insert new poses into the sequence with CPose2DInterpolator::insert()
          *   - Query an exact/interpolated pose with CPose2DInterpolator::interpolate().
          * Example:
          * \code
          * CPose2DInterpolator         path;
          *
          * path.setInterpolationMethod( CPose2DInterpolator::imSplineSlerp );
          *
          * path.insert( t0, mrpt::math::TPose2D(...) );
          * path.insert( t1, mrpt::math::TPose2D(...) );
          *
          * mrpt::math::TPose2D p;
          * bool valid;
          *
          * cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << endl;
          * \endcode
          *
          *  Time is represented with mrpt::system::TTimeStamp. 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".
          *
          * \sa CPoseOrPoint
         * \ingroup interpolation_grp poses_grp
         */
        class BASE_IMPEXP CPose2DInterpolator :
                public mrpt::utils::CSerializable,
                public mrpt::poses::CPoseInterpolatorBase<2>
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE( CPose2DInterpolator )

        }; // End of class def.
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CPose2DInterpolator, mrpt::utils::CSerializable )

} // End of namespace
} // End of namespace