interpolation.h File Reference

#include "vecmath.h"
#include "robot.h"

Classes
class	CInterpolation
	Interpolation Base Class. More...
class	CInterpolationBase
	Interpolation Class for an array of double values. More...
class	CLinear
	Linear Interpolation. More...
class	CBezier
	Bezier Splines. More...
class	CSpline
	Cubic Splines. More...
class	CLinearQuaternionData
	Interpolation data used by the CLinearQuaternion (timestamp, cartesian position and rotation matrix). More...
class	CLinearQuaternion
	Interpolation in Cartesian Space (Orientation only: Quaternions). More...
class	CLinearQuaternionLinear
	Interpolation in Cartesian Space (Position: linear, Orientation: Quaternions). More...
class	CInterpolationData
	Interpolation Data. More...
class	CInterpolationWrapper
	Interpolation Wrapper Base Class. More...
class	CJointSpaceWrapper
	Wrapper class for interpolation in joint space. More...
class	CCartesianSpaceWrapper
	Wrapper class for interpolation in cartesian space. More...
class	CInterpolationFactory
	Interpolation Factory. More...
Defines
#define	IPOPRECISION   double
#define	MAXINTERPOLATIONPOINT   50
Enumerations
enum	{   IPO_CART_X, IPO_CART_Y, IPO_CART_Z, IPO_CART_ROT,   IPO_CART_COUNT }
enum	IPO_TYPE {   IPO_JOINTSPACE, IPO_LINEAR = IPO_JOINTSPACE, IPO_SPLINE, IPO_BEZIER,   IPO_BEZIEROWN, IPO_CARTSPACE, IPO_LINEARKART = IPO_CARTSPACE, IPO_SPLINEKART,   IPO_NOCOLLISION }
	Interpolation Types. More...
Functions
IPOPRECISION	calcBezier (IPOPRECISION *values, int last, IPOPRECISION factor)
void	linear_subsequent (IPOPRECISION *x, IPOPRECISION *y, IPOPRECISION *z, IPOPRECISION *h, int n, IPOPRECISION x, IPOPRECISION *y, int &oldindex)
void	linear_subsequent (IPOPRECISION *xin, IPOPRECISION *yin, int n, IPOPRECISION x, IPOPRECISION *y, int &oldindex)
void	spline_prepare (IPOPRECISION *x, IPOPRECISION *y, IPOPRECISION *u, IPOPRECISION *y2, int n)
void	spline_subsequent (IPOPRECISION *xo, IPOPRECISION *yo, IPOPRECISION *y2a, IPOPRECISION *yin, int n, IPOPRECISION x, IPOPRECISION *y, int &old)

---

Define Documentation

#define IPOPRECISION   double

#define MAXINTERPOLATIONPOINT   50

---

Enumeration Type Documentation

anonymous enum

Enumerator:

IPO_CART_X
IPO_CART_Y
IPO_CART_Z
IPO_CART_ROT
IPO_CART_COUNT

enum IPO_TYPE

Interpolation Types.

Interpolation Types (robot or cartesian space)

Enumerator:

IPO_JOINTSPACE
IPO_LINEAR
IPO_SPLINE
IPO_BEZIER
IPO_BEZIEROWN
IPO_CARTSPACE
IPO_LINEARKART
IPO_SPLINEKART
IPO_NOCOLLISION

---

Function Documentation

IPOPRECISION calcBezier	(	IPOPRECISION *	values,
		int	last,
		IPOPRECISION	factor
	)

void linear_subsequent	(	IPOPRECISION *	xin,
		IPOPRECISION *	yin,
		int	n,
		IPOPRECISION	x,
		IPOPRECISION *	y,
		int &	oldindex
	)

void linear_subsequent	(	IPOPRECISION *	x,
		IPOPRECISION *	y,
		IPOPRECISION *	z,
		IPOPRECISION *	h,
		int	n,
		IPOPRECISION	x,
		IPOPRECISION *	y,
		int &	oldindex
	)

void spline_prepare	(	IPOPRECISION *	x,
		IPOPRECISION *	y,
		IPOPRECISION *	u,
		IPOPRECISION *	y2,
		int	n
	)

void spline_subsequent	(	IPOPRECISION *	xo,
		IPOPRECISION *	yo,
		IPOPRECISION *	y2a,
		IPOPRECISION *	yin,
		int	n,
		IPOPRECISION	x,
		IPOPRECISION *	y,
		int &	old
	)

---