Hermite Spline interpolation. More...
#include <hermiteinterpolator.h>
Public Member Functions | |
| HermiteInterpolator (float finalTime, float finalPosition) | |
| virtual float | GetValue (float linearIndex, float initialPos, float range) const |
| Evaluates a goal position for DOF interpolation. More... | |
| virtual float | GetValue (float linearIndex) const |
| virtual TypeID | GetID () const |
| void | SetInitialPosition (float p) |
| Sets initial position for interpolation. More... | |
| void | AddControlPosition (float pos, float time) |
| Adds a control position for interpolation. More... | |
 Public Member Functions inherited from VART::Interpolator | |
| Interpolator () | |
| virtual | ~Interpolator () |
Protected Member Functions | |
| int | WarpIndex (int i) const |
| Warp index around valid vector indices. More... | |
Static Protected Member Functions | |
| static float | Interpolate (float p1, float tg1, float p2, float tg2, float t) |
| Hermite 1D interpolation. More... | |
Protected Attributes | |
| std::vector< float > | positionVec |
| A vector of positions to interpolate. More... | |
| std::vector< float > | timeVec |
| A vector of times for each position. More... | |
Additional Inherited Members | |
| Public Types inherited from VART::Interpolator | |
| enum | TypeID { LINEAR, EASE_IN_EASE_OUT, RANGED, HERMITE } |
Detailed Description
Hermite Spline interpolation.
Interpolates positions using Hermite Curves. Hermite interpolators have a set of controls points that are use to control the interpolation values, i.e.: the curve passes thru control points. That given, hermite interpolators may not be a good thing to share among dof movers.
Definition at line 19 of file hermiteinterpolator.h.
Constructor & Destructor Documentation
| VART::HermiteInterpolator::HermiteInterpolator | ( | float | finalTime, |
| float | finalPosition | ||
| ) |
Definition at line 10 of file hermiteinterpolator.cpp.
Member Function Documentation
| void VART::HermiteInterpolator::AddControlPosition | ( | float | pos, |
| float | time | ||
| ) |
Adds a control position for interpolation.
A control position is a value that should be given by interpolation at given time.
Definition at line 54 of file hermiteinterpolator.cpp.
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inlinevirtual |
Implements VART::Interpolator.
Definition at line 26 of file hermiteinterpolator.h.
References VART::Interpolator::HERMITE.
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inlinevirtual |
Evaluates a goal position for DOF interpolation.
- Parameters
-
linearIndex [in] A number in range [0..1]. Usually related to a linear time function. initialPos [in] A number in range [0..1]. DOF's initial movement position. range [in] DOF's position range on movement.
- Returns
- DOF's current position. An interpolator basically converts a linear interpolation (GetValue input) into other, more sophisticated interpolation (GetValue output). Each derived class implents a specific mapping.
Implements VART::Interpolator.
Definition at line 23 of file hermiteinterpolator.h.
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virtual |
Definition at line 21 of file hermiteinterpolator.cpp.
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staticprotected |
Hermite 1D interpolation.
Definition at line 65 of file hermiteinterpolator.cpp.
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inline |
Sets initial position for interpolation.
Definition at line 29 of file hermiteinterpolator.h.
References positionVec.
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protected |
Warp index around valid vector indices.
Definition at line 78 of file hermiteinterpolator.cpp.
Member Data Documentation
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protected |
A vector of positions to interpolate.
Definition at line 44 of file hermiteinterpolator.h.
Referenced by SetInitialPosition().
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protected |
A vector of times for each position.
The times are passed as joint movement normalized times, i.e.: values where 0 means the beginning of joint movement and 1 means end of joint movement. But are stored as dof movement normalized time, i.e.: values where 0 means the beginning of dof movment and 1 menas the end of dof movement.
Definition at line 52 of file hermiteinterpolator.h.
The documentation for this class was generated from the following files:
