Spl_Quaternion Class Reference
Cubic quaternions spline. More...
#include <trajectory.h>
Public Member Functions | |
| Spl_Quaternion (const std::string &filename) | |
| Spl_Quaternion (const quat_map &quat) | |
| Constructor. | |
| short | quat (const Real t, Quaternion &s) |
| Quaternion interpollation. More... | |
| short | quat_w (const Real t, Quaternion &s, ColumnVector &w) |
| Quaternion interpollation and angular velocity. | |
Private Attributes | |
| quat_map | quat_data |
| Data at control points. | |
Detailed Description
Cubic quaternions spline.
Definition at line 143 of file trajectory.h.
Member Function Documentation
| short Spl_Quaternion::quat | ( | const Real | t, |
| Quaternion & | s | ||
| ) |
Quaternion interpollation.
![\[ S_n(t) = Squad(q_n,a_n, a(n+1),q(n+1),t) \]](form_341.png)
Definition at line 500 of file trajectory.cpp.
References Quaternion::exp(), quat_data, Slerp(), and Squad().
Referenced by Spl_Quaternion().
