Sinusoidal value interpolator. More...

#include <>>

Inheritance diagram for fawkes::SinusoidalInterpolator:

Public Member Functions
virtual float	interpolate (float t_current, float t_end, float t_step, float v_start, float v_end)
	Interpolate a point at a specific time.
Public Member Functions inherited from fawkes::Interpolator
virtual	~Interpolator ()
	Virtual empty descructor.

Detailed Description

Sinusoidal value interpolator.

The interpolator creates intermediate points given a starting and and end point and time constraints. Times are supplied in a discrete unit like miliseconds or microseconds. The values are interpolated on a sinusoidal curve with a slow start, the greatest slope in the middle and then a slow down in the end. This interpolation is useful for example for smooth servo movements.

The calculation is executed with the following equation:

$\left(\frac{1}{2} \sin\left(\frac{1}{2} + \frac{t_\mathrm{current}}{t_\mathrm{end}} \pi \right) + \frac{1}{2}\right) \cdot (v_\mathrm{end} - v_\mathrm{start}) + v_\mathrm{start}$

Author:: Tim Niemueller; Graeme McPhillips; Stephen Marais

Definition at line 34 of file sinusoidal.h.

Member Function Documentation

float fawkes::SinusoidalInterpolator::interpolate	(	float	t_current,
		float	t_end,
		float	t_step,
		float	v_start,
		float	v_end
	)

virtual

Interpolate a point at a specific time.

Parameters:

t_current	current time for which to calculate the intermediate point
t_end	end time/total time. The start time is always 0.
t_step	Time of a time slice for discrete intermediate interpolation points. Set to 1 for maximum resolution.
v_start	start value
v_end	end value

Returns:: interpolated value at time t_current between t_start and t_end.

Implements fawkes::Interpolator.

Definition at line 55 of file sinusoidal.cpp.

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

src/libs/utils/math/interpolation/sinusoidal.h
src/libs/utils/math/interpolation/sinusoidal.cpp

Public Member Functions

Detailed Description

Member Function Documentation