2.6 The Spl_Quaternion class
Spl_Quaternion deals with parametric quaternions cubic splines.
Constructor
Syntax
Spl_Quaternion(){}
Spl_Quaternion(const string & filename);
Spl_Quaternion(const quat_map & quat);
Spl_Quaternion(const Spl_Quaternion & x);
Spl_Quaternion & operator=(const Spl_Quaternion & x);
Description
Spl_Quaternion object constructor, copy constructor and equal operator.
Return Value
None
quat and quat_w
Syntax
short quat(const Real t, Quaternion & q);
short quat_w(const Real t, Quaternion & q, ColumnVector & w);
Description
These functions interpolate the spline at time t to sets the quaternion q and the
angular velocity ω.
Return Value
Status, as a short int.
- 0 successful
- NOT_IN_RANGE (regarding t)