MRPT  1.9.9
CPose3DInterpolator.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt::poses
15 {
16 /** This class stores a time-stamped trajectory in SE(3) (CPose3D poses).
17  * It can also interpolate SE(3) poses over time using linear, splines or
18  * SLERP interpolation, as set in CPose3DInterpolator::setInterpolationMethod()
19  * Usage:
20  * - Insert new poses into the sequence with CPose3DInterpolator::insert()
21  * - Query an exact/interpolated pose with
22  * CPose3DInterpolator::interpolate().
23  * Example:
24  * \code
25  * CPose3DInterpolator path;
26  *
27  * path.setInterpolationMethod( mrpt::poses::imSplineSlerp );
28  *
29  * path.insert( t0, mrpt::poses::CPose3D(...) );
30  * path.insert( t1, mrpt::math::TPose3D(...) ); // prefered (faster)
31  *
32  * mrpt::math::TPose3D 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::Clock::time_point. See mrpt::system for
39  * methods and utilities to manage these time references.
40  *
41  * See TInterpolatorMethod for the list of interpolation methods. The default
42  * method at constructor is "imLinearSlerp".
43  *
44  * \sa CPoseOrPoint
45  * \ingroup interpolation_grp poses_grp
46  */
49 {
51 }; // End of class def.
52 } // namespace mrpt::poses
Base class for SE(2)/SE(3) interpolators.
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:30
This class stores a time-stamped trajectory in SE(3) (CPose3D poses).
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...



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