From 9d998e57c355fb144dc06d84e9b1d7048ce78aba Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Tue, 1 Oct 2019 11:29:55 +0200
Subject: [PATCH] [se3] add constructor from two transforms
---
include/curves/se3_curve.h | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/include/curves/se3_curve.h b/include/curves/se3_curve.h
index f17e073..ddab255 100644
--- a/include/curves/se3_curve.h
+++ b/include/curves/se3_curve.h
@@ -54,7 +54,19 @@ namespace curves
// better switch to shared ptr
}
+
/* Constructor without curve object for the translation : */
+ /// \brief Constructor from init/end transform use polynomial of degree 1 for position and SO3Linear for rotation
+ SE3Curve(const transform_t& init_transform, const transform_t& end_transform,const time_t& t_min, const time_t& t_max)
+ : curve_abc_t(),
+ dim_(6),
+ translation_curve_(new polynomial_t(pointX_t(init_transform.translation()),pointX_t(end_transform.translation()),t_min,t_max)),
+ rotation_curve_(new SO3Linear_t(init_transform.rotation(),end_transform.rotation(),t_min,t_max)),
+ T_min_(t_min), T_max_(t_max)
+ {
+ safe_check();
+ }
+
/// \brief Constructor from init/end pose, with quaternion. use polynomial of degree 1 for position and SO3Linear for rotation
SE3Curve(const pointX_t& init_pos, const pointX_t& end_pos, const Quaternion& init_rot, const Quaternion& end_rot,const time_t& t_min, const time_t& t_max)
: curve_abc_t(),
--
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