Klamp't  0.9.0
Interpolate.h
1 #ifndef ROBOT_INTERPOLATE_H
2 #define ROBOT_INTERPOLATE_H
3
4 #include "Robot.h"
5
6 namespace Klampt {
7
10
14 void Interpolate(RobotModel& robot,const Config& x,const Config& y,Real u,Config& out);
15
19 void InterpolateDerivative(RobotModel& robot,const Config& a,const Config& b,Vector& dq);
20
24 void InterpolateDerivative(RobotModel& robot,const Config& a,const Config& b,Real u,Vector& dq);
25
26
29 void Integrate(RobotModel& robot,const Config& q,const Vector& dq,Config& b);
30
38 Real Distance(const RobotModel& robot,const Config& a,const Config& b,Real norm,Real floatingRotationWeight=1.0);
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47 Real Distance(const RobotModel& robot,const Config& a,const Config& b,Real norm,const vector<Real>& weights,Real floatingRotationWeight=1.0);
48
51 } //namespace Klampt
52
53 #endif
void Integrate(RobotModel &robot, const Config &q, const Vector &dq, Config &b)
Integrates a velocity vector dq from q to obtain the configuration b.
void InterpolateDerivative(RobotModel &robot, const Config &a, const Config &b, Real u, Vector &dq)
Returns the velocity vector that will move the robot from the configuration that is u fraction of the...
Real Distance(const RobotModel &robot, const Config &a, const Config &b, Real norm, const vector< Real > &weights, Real floatingRotationWeight=1.0)
Returns the geodesic distance between a and b. Combines individual joint distances together via the w...
Definition: ContactDistance.h:6
void Interpolate(RobotModel &robot, const Config &x, const Config &y, Real u, Config &out)
Interpolates between the two configurations in geodesic fashion on the robot&#39;s underlying configurati...