MRPT  1.9.9
CPose2DInterpolator.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
13 
14 namespace mrpt::poses
15 {
16 /** This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D
17  * poses).
18  * It can also interpolate SE(2) poses over time using linear, splines or
19  * SLERP interpolation, as set in CPose2DInterpolator::setInterpolationMethod()
20  * Usage:
21  * - Insert new poses into the sequence with CPose2DInterpolator::insert()
22  * - Query an exact/interpolated pose with
23  * CPose2DInterpolator::interpolate().
24  * Example:
25  * \code
26  * CPose2DInterpolator path;
27  *
28  * path.setInterpolationMethod( CPose2DInterpolator::imSplineSlerp );
29  *
30  * path.insert( t0, mrpt::math::TPose2D(...) );
31  * path.insert( t1, mrpt::math::TPose2D(...) );
32  *
33  * mrpt::math::TPose2D p;
34  * bool valid;
35  *
36  * cout << "Pose at t: " << path.interpolate(t,p,valid).asString() << endl;
37  * \endcode
38  *
39  * Time is represented with mrpt::Clock::time_point.
40  * See mrpt::system for methods and utilities to manage these time references.
41  *
42  * See TInterpolatorMethod for the list of interpolation methods. The default
43  * method at constructor is "imLinearSlerp".
44  *
45  * \sa CPoseOrPoint
46  * \ingroup interpolation_grp poses_grp
47  */
50 {
51  // This must be added to any CSerializable derived class:
53 
54 }; // End of class def.
55 } // namespace mrpt::poses
Base class for SE(2)/SE(3) interpolators.
This class stores a time-stamped trajectory in SE(2) (mrpt::math::TPose2D poses). ...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
Definition: CSerializable.h:30
#define DEFINE_SERIALIZABLE(class_name, NS)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...



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