Utilities used in the implementation of various interpolators and blends. More...

#include <InterpolatorUtil.hpp>

Classes
class	Transform2VectorWrapper
	Wraps an interpolator using rw::math::Transform3D<T> to interpolator with a vector with 7 elements. More...

Static Public Member Functions
template<class V , class T >
static V	transToVec (const rw::math::Transform3D< T > &t)
	Converts a rw::math::Transform3D<T> to vector, in which the orientation is encoded as a quaternion. More...

template<class V , class T >
static rw::math::Transform3D< T >	vecToTrans (const V &v)
	Converts a vector, \(v\in\mathbb{R}^7\) to rw::math::Transform3D<T> More...

Detailed Description

Utilities used in the implementation of various interpolators and blends.

Member Function Documentation

static V transToVec ( const rw::math::Transform3D< T > & t )

inlinestatic

Converts a rw::math::Transform3D<T> to vector, in which the orientation is encoded as a quaternion.

The vector defined by V must have a default constructor initializing it to be 7 long and support the "(size_t i)" to assign its elements.

static rw::math::Transform3D<T> vecToTrans ( const V & v )

inlinestatic

Converts a vector, \(v\in\mathbb{R}^7\) to rw::math::Transform3D<T>

The vector defined by V must support the "(size_t i)" to access its elements. The first 3 elements must be position and the last 4 a quaternion

The documentation for this class was generated from the following file: