Manages rotational paths with different interpolation techniques. More...

#include "rotation_path.h"

Public Types
enum class	InterpType : std::uint8_t { INTERP_STATIC , INTERP_CONSTANT , INTERP_LINEAR , INTERP_CUBIC }
	Enumeration for types of interpolation. More...

Public Member Functions
	RotationPath (const InterpType type=InterpType::INTERP_STATIC) noexcept
	Constructor for RotationPath.

	~RotationPath ()=default

	RotationPath (const RotationPath &)=delete

RotationPath &	operator= (const RotationPath &)=delete

	RotationPath (RotationPath &&)=delete

RotationPath &	operator= (RotationPath &&)=delete

void	addCoord (const RotationCoord &coord) noexcept
	Adds a rotation coordinate to the path.

void	finalize ()
	Finalizes the rotation path for interpolation.

const std::vector< RotationCoord > &	getCoords () const noexcept
	Gets the list of rotation coordinates.

RotationCoord	getStart () const noexcept
	Gets the starting rotation coordinate.

RotationCoord	getRate () const noexcept
	Gets the rate of change for the rotation.

InterpType	getType () const noexcept
	Gets the interpolation type of the path.

SVec3	getPosition (RealType t) const
	Gets the rotational position at a given time.

void	setStart (const RotationCoord &start) noexcept
	Sets the starting rotation coordinate.

void	setRate (const RotationCoord &rate) noexcept
	Sets the rate of change for the rotation.

void	setInterp (InterpType setinterp) noexcept
	Sets the interpolation type for the path.

void	setConstantRate (const RotationCoord &setstart, const RotationCoord &setrate) noexcept
	Sets constant rate interpolation.

Detailed Description

Manages rotational paths with different interpolation techniques.

Definition at line 28 of file rotation_path.h.

Member Enumeration Documentation

◆ InterpType

enum class math::RotationPath::InterpType : std::uint8_t

strong

Enumeration for types of interpolation.

Enumerator
INTERP_STATIC	Hold the first rotation for all query times.
INTERP_CONSTANT	Hold the most recent rotation sample.
INTERP_LINEAR	Linearly interpolate between neighboring rotations.
INTERP_CUBIC	Cubically interpolate between neighboring rotations.

Definition at line 35 of file rotation_path.h.

        {
            INTERP_STATIC, ///< Hold the first rotation for all query times.
            INTERP_CONSTANT, ///< Hold the most recent rotation sample.
            INTERP_LINEAR, ///< Linearly interpolate between neighboring rotations.
            INTERP_CUBIC ///< Cubically interpolate between neighboring rotations.
        };

Constructor & Destructor Documentation

◆ RotationPath() [1/3]

math::RotationPath::RotationPath ( const InterpType type = InterpType::INTERP_STATIC )

explicitnoexcept

Constructor for RotationPath.

Parameters

type	The type of interpolation (default is static).

Definition at line 48 of file rotation_path.h.

48: _type(type) {}

◆ ~RotationPath()

math::RotationPath::~RotationPath ( )

default

◆ RotationPath() [2/3]

math::RotationPath::RotationPath ( const RotationPath & )

delete

◆ RotationPath() [3/3]

math::RotationPath::RotationPath ( RotationPath && )

delete

Member Function Documentation

◆ addCoord()

void math::RotationPath::addCoord ( const RotationCoord & coord )

noexcept

Adds a rotation coordinate to the path.

Parameters

coord The rotation coordinate to be added.

Definition at line 24 of file rotation_path.cpp.

    {
        const auto iter = std::lower_bound(_coords.begin(), _coords.end(), coord); // NOLINT(*-use-ranges)
        _coords.insert(iter, coord);
        _final = false;
    }

References max.

Referenced by fers_get_interpolated_rotation_path(), and serial::xml_parser_utils::parseRotationPath().

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◆ finalize()

void math::RotationPath::finalize ( )

Finalizes the rotation path for interpolation.

Definition at line 61 of file rotation_path.cpp.

    {
        if (!_final)
        {
            if (_type == InterpType::INTERP_CUBIC)
            {
                finalizeCubic(_coords, _dd);
            }
            _final = true;
        }
    }

References finalizeCubic(), and INTERP_CUBIC.

Referenced by fers_get_interpolated_rotation_path(), and serial::xml_parser_utils::parseRotationPath().

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◆ getCoords()

const std::vector< RotationCoord > & math::RotationPath::getCoords ( ) const

noexcept

Gets the list of rotation coordinates.

Returns: A const reference to the vector of rotation coordinates.

Definition at line 77 of file rotation_path.h.

77{ return _coords; }

◆ getPosition()

SVec3 math::RotationPath::getPosition ( RealType t ) const

Gets the rotational position at a given time.

Parameters

t	The time value for which to calculate the position.

Returns: The calculated position as an SVec3.

Exceptions

PathException if the path has not been finalized.

Definition at line 31 of file rotation_path.cpp.

    {
        if (!_final)
        {
            throw PathException("Finalize not called before getPosition in RotationPath.");
        }
        RotationCoord coord{};
 
        switch (_type)
        {
        case InterpType::INTERP_STATIC:
            getPositionStatic(coord, _coords);
            break;
        case InterpType::INTERP_LINEAR:
            getPositionLinear(t, coord, _coords);
            break;
        case InterpType::INTERP_CUBIC:
            getPositionCubic(t, coord, _coords, _dd);
            break;
        case InterpType::INTERP_CONSTANT:
            coord.azimuth = std::fmod(t * _rate.azimuth + _start.azimuth, 2 * PI);
            coord.elevation = std::fmod(t * _rate.elevation + _start.elevation, 2 * PI);
            break;
        default:
            throw PathException("Unknown interpolation type.");
        }
 
        return {1, coord.azimuth, coord.elevation};
    }

References math::RotationCoord::azimuth, math::RotationCoord::elevation, getPositionCubic(), getPositionLinear(), getPositionStatic(), INTERP_CONSTANT, INTERP_CUBIC, INTERP_LINEAR, INTERP_STATIC, max, and PI.

Referenced by fers_get_interpolated_rotation_path().

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◆ getRate()

RotationCoord math::RotationPath::getRate ( ) const

noexcept

Gets the rate of change for the rotation.

Returns: The rotation rate.

Definition at line 91 of file rotation_path.h.

91{ return _rate; }

◆ getStart()

RotationCoord math::RotationPath::getStart ( ) const

noexcept

Gets the starting rotation coordinate.

Returns: The starting rotation coordinate.

Definition at line 84 of file rotation_path.h.

84{ return _start; }

◆ getType()

InterpType math::RotationPath::getType ( ) const

noexcept

Gets the interpolation type of the path.

Returns: The interpolation type.

Definition at line 98 of file rotation_path.h.

98{ return _type; }

◆ operator=() [1/2]

RotationPath & math::RotationPath::operator= ( const RotationPath & )

delete

◆ operator=() [2/2]

RotationPath & math::RotationPath::operator= ( RotationPath && )

delete

◆ setConstantRate()

void math::RotationPath::setConstantRate	(	const RotationCoord &	setstart,
		const RotationCoord &	setrate
	)

noexcept

Sets constant rate interpolation.

Parameters

setstart	The starting rotation coordinate.
setrate	The rate of change for the rotation.

Definition at line 79 of file rotation_path.cpp.

    {
        _start = setstart;
        _rate = setrate;
        _type = InterpType::INTERP_CONSTANT;
        _final = true;
    }

References max.

Referenced by serial::xml_parser_utils::parseFixedRotation().

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◆ setInterp()

void math::RotationPath::setInterp ( InterpType setinterp )

noexcept

Sets the interpolation type for the path.

Parameters

setinterp The new interpolation type to be used.

Definition at line 73 of file rotation_path.cpp.

    {
        _type = setinterp;
        _final = false;
    }

References max.

Referenced by fers_get_interpolated_rotation_path(), and serial::xml_parser_utils::parseRotationPath().

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◆ setRate()

void math::RotationPath::setRate ( const RotationCoord & rate )

noexcept

Sets the rate of change for the rotation.

Parameters

rate	The new rate of change for the rotation.

Definition at line 121 of file rotation_path.h.

121{ _rate = rate; }

params::rate

RealType rate() noexcept

Get the rendering sample rate.

Definition parameters.h:121

◆ setStart()

void math::RotationPath::setStart ( const RotationCoord & start )

noexcept

Sets the starting rotation coordinate.

Parameters

start The new starting rotation coordinate.

Definition at line 114 of file rotation_path.h.

114{ _start = start; }

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

packages/libfers/src/math/rotation_path.h
packages/libfers/src/math/rotation_path.cpp

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ InterpType

Constructor & Destructor Documentation

◆ RotationPath() [1/3]

◆ ~RotationPath()

◆ RotationPath() [2/3]

◆ RotationPath() [3/3]

Member Function Documentation

◆ addCoord()

◆ finalize()

◆ getCoords()

◆ getPosition()

◆ getRate()

◆ getStart()

◆ getType()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ setConstantRate()

◆ setInterp()

◆ setRate()

◆ setStart()