VTK
|
interpolate a quaternion More...
#include <vtkQuaternionInterpolator.h>
Public Types | |
typedef vtkObject | Superclass |
enum | { INTERPOLATION_TYPE_LINEAR = 0, INTERPOLATION_TYPE_SPLINE } |
![]() | |
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 () |
![]() | |
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) |
vtkCommand * | GetCommand (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) |
![]() | |
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 vtkQuaternionInterpolator * | SafeDownCast (vtkObject *o) |
static vtkQuaternionInterpolator * | New () |
![]() | |
static void | BreakOnError () |
static void | SetGlobalWarningDisplay (int val) |
static void | GlobalWarningDisplayOn () |
static void | GlobalWarningDisplayOff () |
static int | GetGlobalWarningDisplay () |
Protected Member Functions | |
vtkQuaternionInterpolator () | |
virtual | ~vtkQuaternionInterpolator () |
void | Slerp (double t, double q0[4], double q1[4], double q[4]) |
![]() | |
vtkObject () | |
virtual | ~vtkObject () |
virtual void | RegisterInternal (vtkObjectBase *, int check) |
virtual void | UnRegisterInternal (vtkObjectBase *, int check) |
void | InternalGrabFocus (vtkCommand *mouseEvents, vtkCommand *keypressEvents=NULL) |
void | InternalReleaseFocus () |
![]() | |
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 |
![]() | |
unsigned char | Debug |
vtkTimeStamp | MTime |
vtkSubjectHelper * | SubjectHelper |
![]() | |
int | ReferenceCount |
vtkWeakPointerBase ** | WeakPointers |
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.
Definition at line 60 of file vtkQuaternionInterpolator.h.
Definition at line 63 of file vtkQuaternionInterpolator.h.
anonymous enum |
Enums to control the type of interpolation to use.
Definition at line 104 of file vtkQuaternionInterpolator.h.
|
protected |
|
protectedvirtual |
|
virtual |
Reimplemented from vtkObject.
|
static |
Return 1 if this class type 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.
|
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 |
Reimplemented from vtkObject.
|
virtual |
|
static |
Instantiate the class.
Reimplemented from vtkObject.
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 |
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 |
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.
|
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.
|
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.
|
protected |
|
staticprotected |
|
protected |
Definition at line 130 of file vtkQuaternionInterpolator.h.
|
protected |
Definition at line 133 of file vtkQuaternionInterpolator.h.