1 #ifndef PLANNING_INTERPOLATOR_H 2 #define PLANNING_INTERPOLATOR_H 4 #include <KrisLibrary/planning/CSpace.h> 14 virtual void Eval(Real u,
Config& x)
const=0;
15 virtual Real Length()
const=0;
16 virtual const Config& Start()
const=0;
17 virtual const Config& End()
const=0;
18 virtual Real ParamStart()
const {
return 0; }
19 virtual Real ParamEnd()
const {
return 1; }
30 virtual void Eval(Real u,
Config& x)
const { base->Eval(1.0-u,x); }
31 virtual Real Length()
const {
return base->Length(); }
32 virtual const Config& Start()
const {
return base->End(); }
33 virtual const Config& End()
const {
return base->Start(); }
35 std::shared_ptr<Interpolator> base;
38 typedef std::shared_ptr<Interpolator> InterpolatorPtr;
An interpolator that reverses another one.
Definition: Interpolator.h:25
Vector Config
an alias for Vector
Definition: RobotKinematics3D.h:14
A base class for all 1D interpolators.
Definition: Interpolator.h:10