ROBOOP::Spl_Quaternion Class Reference#include <trajectory.h>
List of all members.
Detailed Description
Cubic quaternions spline.
Definition at line 150 of file trajectory.h.
Constructor & Destructor Documentation
ROBOOP::Spl_Quaternion::Spl_Quaternion |
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ROBOOP::Spl_Quaternion::Spl_Quaternion |
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const string & |
filename |
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Constructor.
- Parameters:
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| filename: | Quaternions spline data. |
Here is an exemple of file. # is used as comment, the rest of the line is ignored. 0, 0.5 and 1.0 are the time at the control points. R indicated that the quaternion at the control point is obtained from a rotation matrix, and the data (9 elements of the matrix) is on the next line. Instead of R one could use Q to indicate a quaternion and the following line will contain 4 elements.
#
#
#
0
R
1.000000 0.000000 0.000000 0.000000 -1.000000 0.000000 0.000000 -0.000000 -1.000000
0.5
R
0.999943 0.008696 -0.006149 0.009042 -0.998237 0.058659 -0.005628 -0.058711 -0.998259
1.0
R
0.961882 0.254807 0.099282 0.223474 -0.941661 0.251662 0.157616 -0.219882 -0.962709
Definition at line 480 of file trajectory.cpp. |
ROBOOP::Spl_Quaternion::Spl_Quaternion |
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const quat_map & |
quat |
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Member Function Documentation
Member Data Documentation
The documentation for this class was generated from the following files:
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