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vtkQuaternionInterpolator Class Reference

interpolate a quaternion More...

#include <vtkQuaternionInterpolator.h>

Inheritance diagram for vtkQuaternionInterpolator:
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Collaboration diagram for vtkQuaternionInterpolator:
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Public Types

typedef vtkObject Superclass
 
enum  { INTERPOLATION_TYPE_LINEAR =0, INTERPOLATION_TYPE_SPLINE }
 
- Public Types inherited from vtkObject
typedef vtkObjectBase Superclass
 

Public Member Functions

virtual const char * GetClassName ()
 
virtual int IsA (const char *type)
 
void PrintSelf (ostream &os, vtkIndent indent)
 
int GetNumberOfQuaternions ()
 
void Initialize ()
 
void AddQuaternion (double t, double q[4])
 
void RemoveQuaternion (double t)
 
void InterpolateQuaternion (double t, double q[4])
 
double GetMinimumT ()
 
double GetMaximumT ()
 
virtual void SetInterpolationType (int)
 
virtual int GetInterpolationType ()
 
void SetInterpolationTypeToLinear ()
 
void SetInterpolationTypeToSpline ()
 
- Public Member Functions inherited from vtkObject
virtual void DebugOn ()
 
virtual void DebugOff ()
 
unsigned char GetDebug ()
 
void SetDebug (unsigned char debugFlag)
 
virtual void Modified ()
 
virtual unsigned long GetMTime ()
 
unsigned long AddObserver (unsigned long event, vtkCommand *, float priority=0.0f)
 
unsigned long AddObserver (const char *event, vtkCommand *, float priority=0.0f)
 
vtkCommandGetCommand (unsigned long tag)
 
void RemoveObserver (vtkCommand *)
 
void RemoveObservers (unsigned long event, vtkCommand *)
 
void RemoveObservers (const char *event, vtkCommand *)
 
int HasObserver (unsigned long event, vtkCommand *)
 
int HasObserver (const char *event, vtkCommand *)
 
void RemoveObserver (unsigned long tag)
 
void RemoveObservers (unsigned long event)
 
void RemoveObservers (const char *event)
 
void RemoveAllObservers ()
 
int HasObserver (unsigned long event)
 
int HasObserver (const char *event)
 
template<class U , class T >
unsigned long AddObserver (unsigned long event, U observer, void(T::*callback)(), float priority=0.0f)
 
template<class U , class T >
unsigned long AddObserver (unsigned long event, U observer, void(T::*callback)(vtkObject *, unsigned long, void *), float priority=0.0f)
 
int InvokeEvent (unsigned long event, void *callData)
 
int InvokeEvent (const char *event, void *callData)
 
int InvokeEvent (unsigned long event)
 
int InvokeEvent (const char *event)
 
- Public Member Functions inherited from vtkObjectBase
const char * GetClassName () const
 
virtual void Delete ()
 
virtual void FastDelete ()
 
void Print (ostream &os)
 
virtual void Register (vtkObjectBase *o)
 
virtual void UnRegister (vtkObjectBase *o)
 
void SetReferenceCount (int)
 
void PrintRevisions (ostream &os)
 
virtual void PrintHeader (ostream &os, vtkIndent indent)
 
virtual void PrintTrailer (ostream &os, vtkIndent indent)
 
int GetReferenceCount ()
 

Static Public Member Functions

static int IsTypeOf (const char *type)
 
static vtkQuaternionInterpolatorSafeDownCast (vtkObject *o)
 
static vtkQuaternionInterpolatorNew ()
 
- Static Public Member Functions inherited from vtkObject
static int IsTypeOf (const char *type)
 
static vtkObjectSafeDownCast (vtkObject *o)
 
static vtkObjectNew ()
 
static void BreakOnError ()
 
static void SetGlobalWarningDisplay (int val)
 
static void GlobalWarningDisplayOn ()
 
static void GlobalWarningDisplayOff ()
 
static int GetGlobalWarningDisplay ()
 
- Static Public Member Functions inherited from vtkObjectBase
static int IsTypeOf (const char *name)
 
static vtkObjectBaseNew ()
 

Protected Member Functions

 vtkQuaternionInterpolator ()
 
virtual ~vtkQuaternionInterpolator ()
 
void Slerp (double t, double q0[4], double q1[4], double q[4])
 
- Protected Member Functions inherited from vtkObject
 vtkObject ()
 
virtual ~vtkObject ()
 
virtual void RegisterInternal (vtkObjectBase *, int check)
 
virtual void UnRegisterInternal (vtkObjectBase *, int check)
 
void InternalGrabFocus (vtkCommand *mouseEvents, vtkCommand *keypressEvents=NULL)
 
void InternalReleaseFocus ()
 
- Protected Member Functions inherited from vtkObjectBase
 vtkObjectBase ()
 
virtual ~vtkObjectBase ()
 
virtual void CollectRevisions (ostream &os)
 
virtual void ReportReferences (vtkGarbageCollector *)
 
 vtkObjectBase (const vtkObjectBase &)
 
void operator= (const vtkObjectBase &)
 

Static Protected Member Functions

static void InnerPoint (double q0[4], double q1[4], double q2[4], double q[4])
 

Protected Attributes

int InterpolationType
 
vtkQuaternionList * QuaternionList
 
- Protected Attributes inherited from vtkObject
unsigned char Debug
 
vtkTimeStamp MTime
 
vtkSubjectHelper * SubjectHelper
 
- Protected Attributes inherited from vtkObjectBase
int ReferenceCount
 
vtkWeakPointerBase ** WeakPointers
 

Detailed Description

interpolate a quaternion

This class is used to interpolate a series of quaternions representing the rotations of a 3D object. The interpolation may be linear in form (using spherical linear interpolation SLERP), or via spline interpolation (using SQUAD). In either case the interpolation is specialized to quaternions since the interpolation occurs on the surface of the unit quaternion sphere.

To use this class, specify at least two pairs of (t,q[4]) with the AddQuaternion() method. Next interpolate the tuples with the InterpolateQuaternion(t,q[4]) method, where "t" must be in the range of (t_min,t_max) parameter values specified by the AddQuaternion() method (t is clamped otherwise), and q[4] is filled in by the method.

There are several important background references. Ken Shoemake described the practical application of quaternions for the interpolation of rotation (K. Shoemake, "Animating rotation with quaternion curves", Computer Graphics (Siggraph '85) 19(3):245–254, 1985). Another fine reference (available on-line) is E. B. Dam, M. Koch, and M. Lillholm, Technical Report DIKU-TR-98/5, Dept. of Computer Science, University of Copenhagen, Denmark.

Warning
Note that for two or less quaternions, Slerp (linear) interpolation is performed even if spline interpolation is requested. Also, the tangents to the first and last segments of spline interpolation are (arbitrarily) defined by repeating the first and last quaternions.
There are several methods particular to quaternions (norms, products, etc.) implemented interior to this class. These may be moved to a separate quaternion class at some point.

Definition at line 60 of file vtkQuaternionInterpolator.h.

Member Typedef Documentation

Definition at line 63 of file vtkQuaternionInterpolator.h.

Member Enumeration Documentation

anonymous enum

Enums to control the type of interpolation to use.

Enumerator:
INTERPOLATION_TYPE_LINEAR 
INTERPOLATION_TYPE_SPLINE 

Definition at line 104 of file vtkQuaternionInterpolator.h.

Constructor & Destructor Documentation

vtkQuaternionInterpolator::vtkQuaternionInterpolator ( )
protected
virtual vtkQuaternionInterpolator::~vtkQuaternionInterpolator ( )
protectedvirtual

Member Function Documentation

virtual const char* vtkQuaternionInterpolator::GetClassName ( )
virtual

Reimplemented from vtkObject.

static int vtkQuaternionInterpolator::IsTypeOf ( const char *  type)
static
virtual int vtkQuaternionInterpolator::IsA ( const char *  name)
virtual

Return 1 if this class is the same type of (or a subclass of) the named class. Returns 0 otherwise. This method works in combination with vtkTypeMacro found in vtkSetGet.h.

Reimplemented from vtkObject.

static vtkQuaternionInterpolator* vtkQuaternionInterpolator::SafeDownCast ( vtkObject o)
static
void vtkQuaternionInterpolator::PrintSelf ( ostream &  os,
vtkIndent  indent 
)
virtual

Methods invoked by print to print information about the object including superclasses. Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes.

Reimplemented from vtkObject.

static vtkQuaternionInterpolator* vtkQuaternionInterpolator::New ( )
static

Instantiate the class.

int vtkQuaternionInterpolator::GetNumberOfQuaternions ( )

Return the number of quaternions in the list of quaternions to be interpolated.

double vtkQuaternionInterpolator::GetMinimumT ( )

Obtain some information about the interpolation range. The numbers returned (corresponding to parameter t, usually thought of as time) are undefined if the list of transforms is empty. This is a convenience method for interpolation.

double vtkQuaternionInterpolator::GetMaximumT ( )

Obtain some information about the interpolation range. The numbers returned (corresponding to parameter t, usually thought of as time) are undefined if the list of transforms is empty. This is a convenience method for interpolation.

void vtkQuaternionInterpolator::Initialize ( )

Reset the class so that it contains no data; i.e., the array of (t,q[4]) information is discarded.

void vtkQuaternionInterpolator::AddQuaternion ( double  t,
double  q[4] 
)

Add another quaternion to the list of quaternions to be interpolated. Note that using the same time t value more than once replaces the previous quaternion at t. At least one quaternions must be added to define an interpolation functios.

void vtkQuaternionInterpolator::RemoveQuaternion ( double  t)

Delete the quaternion at a particular parameter t. If there is no quaternion tuple defined at t, then the method does nothing.

void vtkQuaternionInterpolator::InterpolateQuaternion ( double  t,
double  q[4] 
)

Interpolate the list of quaternions and determine a new quaternion (i.e., fill in the quaternion provided). If t is outside the range of (min,max) values, then t is clamped to lie within the range.

virtual void vtkQuaternionInterpolator::SetInterpolationType ( int  )
virtual

Specify which type of function to use for interpolation. By default (SetInterpolationFunctionToSpline()), cubic spline interpolation using a modifed Kochanek basis is employed. Otherwise, if SetInterpolationFunctionToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

virtual int vtkQuaternionInterpolator::GetInterpolationType ( )
virtual

Specify which type of function to use for interpolation. By default (SetInterpolationFunctionToSpline()), cubic spline interpolation using a modifed Kochanek basis is employed. Otherwise, if SetInterpolationFunctionToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

void vtkQuaternionInterpolator::SetInterpolationTypeToLinear ( )
inline

Specify which type of function to use for interpolation. By default (SetInterpolationFunctionToSpline()), cubic spline interpolation using a modifed Kochanek basis is employed. Otherwise, if SetInterpolationFunctionToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

Definition at line 119 of file vtkQuaternionInterpolator.h.

void vtkQuaternionInterpolator::SetInterpolationTypeToSpline ( )
inline

Specify which type of function to use for interpolation. By default (SetInterpolationFunctionToSpline()), cubic spline interpolation using a modifed Kochanek basis is employed. Otherwise, if SetInterpolationFunctionToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

Definition at line 121 of file vtkQuaternionInterpolator.h.

void vtkQuaternionInterpolator::Slerp ( double  t,
double  q0[4],
double  q1[4],
double  q[4] 
)
protected
static void vtkQuaternionInterpolator::InnerPoint ( double  q0[4],
double  q1[4],
double  q2[4],
double  q[4] 
)
staticprotected

Member Data Documentation

int vtkQuaternionInterpolator::InterpolationType
protected

Definition at line 130 of file vtkQuaternionInterpolator.h.

vtkQuaternionList* vtkQuaternionInterpolator::QuaternionList
protected

Definition at line 133 of file vtkQuaternionInterpolator.h.


The documentation for this class was generated from the following file: