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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) 2005-2018, 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 {
16 namespace poses
17 {
18 /** This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D
19  * poses).
20  * It can also interpolate SE(2) poses over time using linear, splines or
21  * SLERP interpolation, as set in CPose2DInterpolator::setInterpolationMethod()
22  * Usage:
23  * - Insert new poses into the sequence with CPose2DInterpolator::insert()
24  * - Query an exact/interpolated pose with
25  * CPose2DInterpolator::interpolate().
26  * Example:
27  * \code
28  * CPose2DInterpolator path;
29  *
30  * path.setInterpolationMethod( CPose2DInterpolator::imSplineSlerp );
31  *
32  * path.insert( t0, mrpt::math::TPose2D(...) );
33  * path.insert( t1, mrpt::math::TPose2D(...) );
34  *
35  * mrpt::math::TPose2D p;
36  * bool valid;
37  *
38  * cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << endl;
39  * \endcode
40  *
41  * Time is represented with mrpt::system::TTimeStamp. See mrpt::system for
42  * methods and utilities to manage these time references.
43  *
44  * See TInterpolatorMethod for the list of interpolation methods. The default
45  * method at constructor is "imLinearSlerp".
46  *
47  * \sa CPoseOrPoint
48  * \ingroup interpolation_grp poses_grp
49  */
52 {
53  // This must be added to any CSerializable derived class:
55 
56 }; // End of class def.
57 } // End of namespace
58 } // End of namespace
Base class for SE(2)/SE(3) interpolators.
This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). ...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:32



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