ROBOOP, A Robotics Object Oriented Package in C++
Spl_Quaternion Class Reference

Cubic quaternions spline. More...

#include <trajectory.h>

Public Member Functions

 Spl_Quaternion (const std::string &filename)
 
 Spl_Quaternion (const quat_map &quat)
 Constructor.
 
short quat (const Real t, Quaternion &s)
 Quaternion interpollation. More...
 
short quat_w (const Real t, Quaternion &s, ColumnVector &w)
 Quaternion interpollation and angular velocity.
 

Private Attributes

quat_map quat_data
 Data at control points.
 

Detailed Description

Cubic quaternions spline.

Definition at line 143 of file trajectory.h.

Member Function Documentation

short Spl_Quaternion::quat ( const Real  t,
Quaternion s 
)

Quaternion interpollation.

\[ S_n(t) = Squad(q_n,a_n, a(n+1),q(n+1),t) \]

Definition at line 500 of file trajectory.cpp.

References Quaternion::exp(), quat_data, Slerp(), and Squad().

Referenced by Spl_Quaternion().