CPose3DInterpolator.h

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/* +---------------------------------------------------------------------------+
   |                     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( CPose3DInterpolator, mrpt::utils::CSerializable )

                /** 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:
                  * \code
                  * 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;
                  *
                  * 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 CPose3DInterpolator :
                        public mrpt::utils::CSerializable,
                        public mrpt::poses::CPoseInterpolatorBase<3>
                {
                        // This must be added to any CSerializable derived class:
                        DEFINE_SERIALIZABLE( CPose3DInterpolator )
                }; // End of class def.
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE( CPose3DInterpolator, mrpt::utils::CSerializable )

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