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CPose3DInterpolator.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(3) (CPose3D poses).
19  * It can also interpolate SE(3) poses over time using linear, splines or
20  * SLERP interpolation, as set in CPose3DInterpolator::setInterpolationMethod()
21  * Usage:
22  * - Insert new poses into the sequence with CPose3DInterpolator::insert()
23  * - Query an exact/interpolated pose with
24  * CPose3DInterpolator::interpolate().
25  * Example:
26  * \code
27  * CPose3DInterpolator path;
28  *
29  * path.setInterpolationMethod( mrpt::poses::imSplineSlerp );
30  *
31  * path.insert( t0, mrpt::poses::CPose3D(...) );
32  * path.insert( t1, mrpt::math::TPose3D(...) ); // prefered (faster)
33  *
34  * mrpt::math::TPose3D p;
35  * bool valid;
36  *
37  * cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << endl;
38  * \endcode
39  *
40  * Time is represented with mrpt::system::TTimeStamp. See mrpt::system for
41  * methods and utilities to manage these time references.
42  *
43  * See TInterpolatorMethod for the list of interpolation methods. The default
44  * method at constructor is "imLinearSlerp".
45  *
46  * \sa CPoseOrPoint
47  * \ingroup interpolation_grp poses_grp
48  */
51 {
53 }; // End of class def.
54 } // End of namespace
55 } // End of namespace
Base class for SE(2)/SE(3) interpolators.
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
This class stores a time-stamped trajectory in SE(3) (CPose3D poses).



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