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Namespaces | |
Cube | |
Classes | |
struct | MockInputOutput |
class | MockPhysicsManager |
Testing class used to publicly expose PhysicsManager's protected member functions. More... | |
Functions | |
SurgSim::Math::RigidTransform3d | interpolatePose (const Vector3d &startAngles, const Vector3d &endAngles, const Vector3d &startPosition, const Vector3d &endPosition, const double &t) |
template<> | |
SurgSim::Math::Quaterniond | interpolate (const SurgSim::Math::Quaterniond &start, const SurgSim::Math::Quaterniond &end, const double &t) |
template<> | |
SurgSim::Math::RigidTransform3d | interpolate (const SurgSim::Math::RigidTransform3d &start, const SurgSim::Math::RigidTransform3d &end, const double &t) |
template<class T > | |
T | interpolate (const T &start, const T &end, const double &t) |
Does a linear interpolation between the start and the end dependent on t. More... | |
template<class T > | |
T | interpolate (const std::pair< T, T > &values, const double &t) |
template<> | |
SurgSim::Math::Quaterniond | interpolate< SurgSim::Math::Quaterniond > (const SurgSim::Math::Quaterniond &start, const SurgSim::Math::Quaterniond &end, const double &t) |
Specialized template to call the correct function for Quaterniond, might be superfluous, delegates to the eigen interpolation function for Quaterniond. More... | |
template<> | |
SurgSim::Math::RigidTransform3d | interpolate< SurgSim::Math::RigidTransform3d > (const SurgSim::Math::RigidTransform3d &start, const SurgSim::Math::RigidTransform3d &end, const double &t) |
Specialized template to call the correct function for RigidTransform3d, might be superfluous, delegates to the eigen interpolation function for RigidTransform3d. More... | |
SurgSim::Math::RigidTransform3d | interpolatePose (const SurgSim::Math::Vector3d &startAngles, const SurgSim::Math::Vector3d &endAngles, const SurgSim::Math::Vector3d &startPosition, const SurgSim::Math::Vector3d &endPosition, const double &t) |
Does a linear interpolation on a pose, given Vector3d for angles and positions. More... | |
T SurgSim::Testing::interpolate | ( | const T & | start, |
const T & | end, | ||
const double & | t | ||
) |
Does a linear interpolation between the start and the end dependent on t.
T | The type of value to be interpolated. |
start | The start value. |
end | The end value. |
t | The percentage for the interpolation. |
T SurgSim::Testing::interpolate | ( | const std::pair< T, T > & | values, |
const double & | t | ||
) |
SurgSim::Math::Quaterniond SurgSim::Testing::interpolate | ( | const SurgSim::Math::Quaterniond & | start, |
const SurgSim::Math::Quaterniond & | end, | ||
const double & | t | ||
) |
SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolate | ( | const SurgSim::Math::RigidTransform3d & | start, |
const SurgSim::Math::RigidTransform3d & | end, | ||
const double & | t | ||
) |
SurgSim::Math::Quaterniond SurgSim::Testing::interpolate< SurgSim::Math::Quaterniond > | ( | const SurgSim::Math::Quaterniond & | start, |
const SurgSim::Math::Quaterniond & | end, | ||
const double & | t | ||
) |
Specialized template to call the correct function for Quaterniond, might be superfluous, delegates to the eigen interpolation function for Quaterniond.
start | The start quaternion. |
end | The end quaternion. |
t | The percentage for the interpolation. |
SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolate< SurgSim::Math::RigidTransform3d > | ( | const SurgSim::Math::RigidTransform3d & | start, |
const SurgSim::Math::RigidTransform3d & | end, | ||
const double & | t | ||
) |
Specialized template to call the correct function for RigidTransform3d, might be superfluous, delegates to the eigen interpolation function for RigidTransform3d.
start | The start quaternion. |
end | The end quaternion. |
t | The percentage for the interpolation. |
SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolatePose | ( | const Vector3d & | startAngles, |
const Vector3d & | endAngles, | ||
const Vector3d & | startPosition, | ||
const Vector3d & | endPosition, | ||
const double & | t | ||
) |
SurgSim::Math::RigidTransform3d SurgSim::Testing::interpolatePose | ( | const SurgSim::Math::Vector3d & | startAngles, |
const SurgSim::Math::Vector3d & | endAngles, | ||
const SurgSim::Math::Vector3d & | startPosition, | ||
const SurgSim::Math::Vector3d & | endPosition, | ||
const double & | t | ||
) |
Does a linear interpolation on a pose, given Vector3d for angles and positions.
The angles around the X, Y and Z axis are being passed in a Vector3d for a terser expression.
startAngles | The start angles in the order X/Y/Z angle axis value in radians. |
endAngles | The end angles in the order X/Y/Z angle axis value in radians. |
startPosition | The start position. |
endPosition | The end position. |
t | The percentage for the interpolation. |