georegression.transform.se

Class InterpolateLinearSe3_F64

java.lang.Object

georegression.transform.se.InterpolateLinearSe3_F64

public class InterpolateLinearSe3_F64
extends java.lang.Object

Linear interpolation between two Se3_F64 transforms. It is assumed that the rotation able between the two transforms is < 180 degrees. If more than 180 degrees than it will chose the wrong direction to rotate.

The rotation and translation are interpolated separately. Translation has straight forward linear interpolation applied to it. Rotations are interpolated by finding the axis of rotation and the rotation angle. Then the angle is linearly interpolated and the rotation matrix found by the angle and axis.

Constructor Summary

Constructors

Constructor and Description
InterpolateLinearSe3_F64()

Method Summary

Modifier and Type	Method and Description
void	interpolate(double where, Se3_F64 output) Interpolates a value between the first and second transform.
void	setTransforms(Se3_F64 initial, Se3_F64 end) Specify the two transforms which values are to be interpolated between

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

InterpolateLinearSe3_F64

public InterpolateLinearSe3_F64()

Method Detail

setTransforms

public void setTransforms(Se3_F64 initial,
                          Se3_F64 end)

Specify the two transforms which values are to be interpolated between

Parameters:

initial - first transform

end - second transform

interpolate

public void interpolate(double where,
                        Se3_F64 output)

Interpolates a value between the first and second transform. A value close to 0 will be more similar to the initial and 1 more similar to the end.

Parameters:

where - A value between 0 and 1 which specifies the interpolation location

output - Resulting transform