Package georegression.transform.se

Class InterpolateLinearSe3_F64

java.lang.Object
georegression.transform.se.InterpolateLinearSe3_F64
public class InterpolateLinearSe3_F64 extends 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 Details

    • InterpolateLinearSe3_F64

      public InterpolateLinearSe3_F64()

  • Method Details

    • 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