Spl_Quaternion Class Reference

#include <trajectory.h>

List of all members.

Detailed Description

Cubic quaternions spline.

Definition at line 147 of file trajectory.h.

Public Member Functions

 Spl_Quaternion ()
 Spl_Quaternion (const std::string &filename)
 Spl_Quaternion (const quat_map &quat)
 Constructor.
short quat (const Real t, Quaternion &s)
 Quaternion interpollation.
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.

Member Function Documentation

short Spl_Quaternion::quat ( const Real  t,
Quaternion &  s 
)

Quaternion interpollation.

\[ S_n(t) = Squad(q_n,a_n, a(n+1),q(n+1),t) \]

Definition at line 503 of file trajectory.cpp.

References NOT_IN_RANGE, quat_data, Slerp(), and Squad().

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