#include <vtkQuaternionInterpolator.h>

Detailed Description

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.

Warning: Note that for two or less quaternions, Slerp (linear) interpolation is performed even if spline interpolation is requested. Also, the tangents to the first and last segments of spline interpolation are (arbitrarily) defined by repeating the first and last quaternions.; There are several methods particular to quaternions (norms, products, etc.) implemented interior to this class. These may be moved to a separate quaternion class at some point.

See also: vtkQuaternion

Tests:: vtkQuaternionInterpolator (Tests)

Definition at line 59 of file vtkQuaternionInterpolator.h.

Inheritance diagram for vtkQuaternionInterpolator:

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Collaboration diagram for vtkQuaternionInterpolator:

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Public Types
enum	vtkQuaternionInterpolationSearchMethod { BinarySearch = 0 , LinearSearch = 1 , MaxEnum = 3 }
enum	{ INTERPOLATION_TYPE_LINEAR = 0 , INTERPOLATION_TYPE_SPLINE }
	Enums to control the type of interpolation to use. More...
typedef vtkObject	Superclass

Public Member Functions
virtual vtkTypeBool	IsA (const char *type)
	Return 1 if this class is the same type of (or a subclass of) the named class.
vtkQuaternionInterpolator *	NewInstance () const
void	PrintSelf (ostream &os, vtkIndent indent) override
	Methods invoked by print to print information about the object including superclasses.
int	GetNumberOfQuaternions ()
	Return the number of quaternions in the list of quaternions to be interpolated.
void	Initialize ()
	Reset the class so that it contains no data; i.e., the array of (t,q[4]) information is discarded.
void	RemoveQuaternion (double t)
	Delete the quaternion at a particular parameter t.

double	GetMinimumT ()
	Obtain some information about the interpolation range.
double	GetMaximumT ()
	Obtain some information about the interpolation range.

void	AddQuaternion (double t, const vtkQuaterniond &q)
	Add another quaternion to the list of quaternions to be interpolated.
void	AddQuaternion (double t, double q[4])
	Add another quaternion to the list of quaternions to be interpolated.

void	InterpolateQuaternion (double t, vtkQuaterniond &q)
	Interpolate the list of quaternions and determine a new quaternion (i.e., fill in the quaternion provided).
void	InterpolateQuaternion (double t, double q[4])
	Interpolate the list of quaternions and determine a new quaternion (i.e., fill in the quaternion provided).

int	GetSearchMethod ()
	Set / Get the search type method.
void	SetSearchMethod (int type)
	Set / Get the search type method.

virtual void	SetInterpolationType (int)
	Specify which type of function to use for interpolation.
virtual int	GetInterpolationType ()
	Specify which type of function to use for interpolation.
void	SetInterpolationTypeToLinear ()
	Specify which type of function to use for interpolation.
void	SetInterpolationTypeToSpline ()
	Specify which type of function to use for interpolation.

void	SetTimedQuaternions (const std::vector< double > &values)
	Get/Set all the (t, quaternion) samples as a flat interleaved array: t0, q0_0, q0_1, q0_2, q0_3, t1, q1_0, q1_1, q1_2, q1_3, ...
std::vector< double >	GetTimedQuaternions () const
	Get/Set all the (t, quaternion) samples as a flat interleaved array: t0, q0_0, q0_1, q0_2, q0_3, t1, q1_0, q1_1, q1_2, q1_3, ...
Public Member Functions inherited from vtkObject
	vtkBaseTypeMacro (vtkObject, vtkObjectBase)
virtual void	DebugOn ()
	Turn debugging output on.
virtual void	DebugOff ()
	Turn debugging output off.
bool	GetDebug ()
	Get the value of the debug flag.
void	SetDebug (bool debugFlag)
	Set the value of the debug flag.
virtual void	Modified ()
	Update the modification time for this object.
virtual vtkMTimeType	GetMTime ()
	Return this object's modified time.
void	RemoveObserver (unsigned long tag)
void	RemoveObservers (unsigned long event)
void	RemoveObservers (const char *event)
void	RemoveAllObservers ()
vtkTypeBool	HasObserver (unsigned long event)
vtkTypeBool	HasObserver (const char *event)
vtkTypeBool	InvokeEvent (unsigned long event)
vtkTypeBool	InvokeEvent (const char *event)
std::string	GetObjectDescription () const override
	The object description printed in messages and PrintSelf output.
unsigned long	AddObserver (unsigned long event, vtkCommand *, float priority=0.0f)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
unsigned long	AddObserver (const char event, vtkCommand , float priority=0.0f)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
vtkCommand *	GetCommand (unsigned long tag)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
void	RemoveObserver (vtkCommand *)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
void	RemoveObservers (unsigned long event, vtkCommand *)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
void	RemoveObservers (const char event, vtkCommand )
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
vtkTypeBool	HasObserver (unsigned long event, vtkCommand *)
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
vtkTypeBool	HasObserver (const char event, vtkCommand )
	Allow people to add/remove/invoke observers (callbacks) to any VTK object.
template<class U, class T>
unsigned long	AddObserver (unsigned long event, U observer, void(T::*callback)(), float priority=0.0f)
	Overloads to AddObserver that allow developers to add class member functions as callbacks for events.
template<class U, class T>
unsigned long	AddObserver (unsigned long event, U observer, void(T::callback)(vtkObject , unsigned long, void *), float priority=0.0f)
	Overloads to AddObserver that allow developers to add class member functions as callbacks for events.
template<class U, class T>
unsigned long	AddObserver (unsigned long event, U observer, bool(T::callback)(vtkObject , unsigned long, void *), float priority=0.0f)
	Allow user to set the AbortFlagOn() with the return value of the callback method.
vtkTypeBool	InvokeEvent (unsigned long event, void *callData)
	This method invokes an event and return whether the event was aborted or not.
vtkTypeBool	InvokeEvent (const char event, void callData)
	This method invokes an event and return whether the event was aborted or not.
virtual void	SetObjectName (const std::string &objectName)
	Set/get the name of this object for reporting purposes.
virtual std::string	GetObjectName () const
	Set/get the name of this object for reporting purposes.
Public Member Functions inherited from vtkObjectBase
const char *	GetClassName () const
	Return the class name as a string.
virtual vtkIdType	GetNumberOfGenerationsFromBase (const char *name)
	Given the name of a base class of this class type, return the distance of inheritance between this class type and the named class (how many generations of inheritance are there between this class and the named class).
virtual void	Delete ()
	Delete a VTK object.
virtual void	FastDelete ()
	Delete a reference to this object.
void	InitializeObjectBase ()
void	Print (ostream &os)
	Print an object to an ostream.
void	Register (vtkObjectBase *o)
	Increase the reference count (mark as used by another object).
virtual void	UnRegister (vtkObjectBase *o)
	Decrease the reference count (release by another object).
int	GetReferenceCount ()
	Return the current reference count of this object.
void	SetReferenceCount (int)
	Sets the reference count.
bool	GetIsInMemkind () const
	A local state flag that remembers whether this object lives in the normal or extended memory space.
virtual void	PrintHeader (ostream &os, vtkIndent indent)
	Methods invoked by print to print information about the object including superclasses.
virtual void	PrintTrailer (ostream &os, vtkIndent indent)
	Methods invoked by print to print information about the object including superclasses.
virtual bool	UsesGarbageCollector () const
	Indicate whether the class uses vtkGarbageCollector or not.

Static Public Member Functions
static vtkTypeBool	IsTypeOf (const char *type)
static vtkQuaternionInterpolator *	SafeDownCast (vtkObjectBase *o)
static vtkQuaternionInterpolator *	New ()
	Instantiate the class.
Static Public Member Functions inherited from vtkObject
static vtkObject *	New ()
	Create an object with Debug turned off, modified time initialized to zero, and reference counting on.
static void	BreakOnError ()
	This method is called when vtkErrorMacro executes.
static void	SetGlobalWarningDisplay (vtkTypeBool val)
	This is a global flag that controls whether any debug, warning or error messages are displayed.
static void	GlobalWarningDisplayOn ()
	This is a global flag that controls whether any debug, warning or error messages are displayed.
static void	GlobalWarningDisplayOff ()
	This is a global flag that controls whether any debug, warning or error messages are displayed.
static vtkTypeBool	GetGlobalWarningDisplay ()
	This is a global flag that controls whether any debug, warning or error messages are displayed.
Static Public Member Functions inherited from vtkObjectBase
static vtkTypeBool	IsTypeOf (const char *name)
	Return 1 if this class type is the same type of (or a subclass of) the named class.
static vtkIdType	GetNumberOfGenerationsFromBaseType (const char *name)
	Given a the name of a base class of this class type, return the distance of inheritance between this class type and the named class (how many generations of inheritance are there between this class and the named class).
static vtkObjectBase *	New ()
	Create an object with Debug turned off, modified time initialized to zero, and reference counting on.
static void	SetMemkindDirectory (const char *directoryname)
	The name of a directory, ideally mounted -o dax, to memory map an extended memory space within.
static bool	GetUsingMemkind ()
	A global state flag that controls whether vtkObjects are constructed in the usual way (the default) or within the extended memory space.

Protected Member Functions
virtual vtkObjectBase *	NewInstanceInternal () const
	vtkQuaternionInterpolator ()
	~vtkQuaternionInterpolator () override
Protected Member Functions inherited from vtkObject
	vtkObject ()
	~vtkObject () override
void	RegisterInternal (vtkObjectBase *, vtkTypeBool check) override
void	UnRegisterInternal (vtkObjectBase *, vtkTypeBool check) override
void	InternalGrabFocus (vtkCommand mouseEvents, vtkCommand keypressEvents=nullptr)
	These methods allow a command to exclusively grab all events.
void	InternalReleaseFocus ()
	These methods allow a command to exclusively grab all events.
Protected Member Functions inherited from vtkObjectBase
	vtkObjectBase ()
virtual	~vtkObjectBase ()
virtual void	ReportReferences (vtkGarbageCollector *)
	vtkObjectBase (const vtkObjectBase &)
void	operator= (const vtkObjectBase &)

Protected Attributes
int	InterpolationType
int	SearchMethod
vtkQuaternionList *	QuaternionList
Protected Attributes inherited from vtkObject
bool	Debug
vtkTimeStamp	MTime
vtkSubjectHelper *	SubjectHelper
std::string	ObjectName
Protected Attributes inherited from vtkObjectBase
std::atomic< int32_t >	ReferenceCount
vtkWeakPointerBase **	WeakPointers

Additional Inherited Members
Static Protected Member Functions inherited from vtkObjectBase
static vtkMallocingFunction	GetCurrentMallocFunction ()
static vtkReallocingFunction	GetCurrentReallocFunction ()
static vtkFreeingFunction	GetCurrentFreeFunction ()
static vtkFreeingFunction	GetAlternateFreeFunction ()

Member Typedef Documentation

◆ Superclass

typedef vtkObject vtkQuaternionInterpolator::Superclass

Definition at line 62 of file vtkQuaternionInterpolator.h.

Member Enumeration Documentation

◆ vtkQuaternionInterpolationSearchMethod

enum vtkQuaternionInterpolator::vtkQuaternionInterpolationSearchMethod

Enumerator
BinarySearch
LinearSearch
MaxEnum

Definition at line 70 of file vtkQuaternionInterpolator.h.

◆ anonymous enum

anonymous enum

Enums to control the type of interpolation to use.

Enumerator
INTERPOLATION_TYPE_LINEAR
INTERPOLATION_TYPE_SPLINE

Definition at line 140 of file vtkQuaternionInterpolator.h.

Constructor & Destructor Documentation

◆ vtkQuaternionInterpolator()

vtkQuaternionInterpolator::vtkQuaternionInterpolator ( )

protected

◆ ~vtkQuaternionInterpolator()

vtkQuaternionInterpolator::~vtkQuaternionInterpolator ( )

overrideprotected

Member Function Documentation

◆ IsTypeOf()

vtkTypeBool vtkQuaternionInterpolator::IsTypeOf ( const char * type )

static

◆ IsA()

virtual vtkTypeBool vtkQuaternionInterpolator::IsA ( const char * name )

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 vtkObjectBase.

◆ SafeDownCast()

vtkQuaternionInterpolator * vtkQuaternionInterpolator::SafeDownCast ( vtkObjectBase * o )

static

◆ NewInstanceInternal()

virtual vtkObjectBase * vtkQuaternionInterpolator::NewInstanceInternal ( ) const

protectedvirtual

◆ NewInstance()

vtkQuaternionInterpolator * vtkQuaternionInterpolator::NewInstance ( ) const

◆ PrintSelf()

void vtkQuaternionInterpolator::PrintSelf	(	ostream &	os,
		vtkIndent	indent )

overridevirtual

Methods invoked by print to print information about the object including superclasses.

Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes.

Reimplemented from vtkObject.

◆ New()

vtkQuaternionInterpolator * vtkQuaternionInterpolator::New ( )

static

Instantiate the class.

◆ GetNumberOfQuaternions()

int vtkQuaternionInterpolator::GetNumberOfQuaternions ( )

Return the number of quaternions in the list of quaternions to be interpolated.

◆ GetMinimumT()

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.

◆ GetMaximumT()

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.

◆ Initialize()

void vtkQuaternionInterpolator::Initialize ( )

Reset the class so that it contains no data; i.e., the array of (t,q[4]) information is discarded.

◆ AddQuaternion() [1/2]

void vtkQuaternionInterpolator::AddQuaternion	(	double	t,
		const vtkQuaterniond &	q )

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 functions.

◆ AddQuaternion() [2/2]

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 functions.

◆ RemoveQuaternion()

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.

◆ InterpolateQuaternion() [1/2]

void vtkQuaternionInterpolator::InterpolateQuaternion	(	double	t,
		vtkQuaterniond &	q )

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.

◆ InterpolateQuaternion() [2/2]

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.

◆ GetSearchMethod()

int vtkQuaternionInterpolator::GetSearchMethod ( )

Set / Get the search type method.

0 is a binary search method O(log(N)) 1 is a linear search method O(N). Linear search method is kept because it can be faster than the dichotomous search method in specific cases

◆ SetSearchMethod()

void vtkQuaternionInterpolator::SetSearchMethod ( int type )

Set / Get the search type method.

0 is a binary search method O(log(N)) 1 is a linear search method O(N). Linear search method is kept because it can be faster than the dichotomous search method in specific cases

◆ SetInterpolationType()

virtual void vtkQuaternionInterpolator::SetInterpolationType ( int )

virtual

Specify which type of function to use for interpolation.

By default (SetInterpolationTypeToSpline()), cubic spline interpolation using a modified Kochanek basis is employed. Otherwise, if SetInterpolationTypeToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

◆ GetInterpolationType()

virtual int vtkQuaternionInterpolator::GetInterpolationType ( )

virtual

Specify which type of function to use for interpolation.

By default (SetInterpolationTypeToSpline()), cubic spline interpolation using a modified Kochanek basis is employed. Otherwise, if SetInterpolationTypeToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

◆ SetInterpolationTypeToLinear()

void vtkQuaternionInterpolator::SetInterpolationTypeToLinear ( )

inline

Specify which type of function to use for interpolation.

By default (SetInterpolationTypeToSpline()), cubic spline interpolation using a modified Kochanek basis is employed. Otherwise, if SetInterpolationTypeToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

Definition at line 157 of file vtkQuaternionInterpolator.h.

◆ SetInterpolationTypeToSpline()

void vtkQuaternionInterpolator::SetInterpolationTypeToSpline ( )

inline

Specify which type of function to use for interpolation.

By default (SetInterpolationTypeToSpline()), cubic spline interpolation using a modified Kochanek basis is employed. Otherwise, if SetInterpolationTypeToLinear() is invoked, linear spherical interpolation is used between each pair of quaternions.

Definition at line 158 of file vtkQuaternionInterpolator.h.

◆ SetTimedQuaternions()

void vtkQuaternionInterpolator::SetTimedQuaternions ( const std::vector< double > & values )

Get/Set all the (t, quaternion) samples as a flat interleaved array: t0, q0_0, q0_1, q0_2, q0_3, t1, q1_0, q1_1, q1_2, q1_3, ...

The length of values passed in to the SetTimedQuaternions must be divisible by 5.

Convenient method for wrapped languages and serialization.

◆ GetTimedQuaternions()

std::vector< double > vtkQuaternionInterpolator::GetTimedQuaternions ( ) const

Get/Set all the (t, quaternion) samples as a flat interleaved array: t0, q0_0, q0_1, q0_2, q0_3, t1, q1_0, q1_1, q1_2, q1_3, ...

The length of values passed in to the SetTimedQuaternions must be divisible by 5.

Convenient method for wrapped languages and serialization.

Member Data Documentation

◆ InterpolationType

int vtkQuaternionInterpolator::InterpolationType

protected

Definition at line 179 of file vtkQuaternionInterpolator.h.

◆ SearchMethod

int vtkQuaternionInterpolator::SearchMethod

protected

Definition at line 180 of file vtkQuaternionInterpolator.h.

◆ QuaternionList

vtkQuaternionList* vtkQuaternionInterpolator::QuaternionList

protected

Definition at line 183 of file vtkQuaternionInterpolator.h.

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

Common/Math/vtkQuaternionInterpolator.h

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Typedef Documentation

◆ Superclass

Member Enumeration Documentation

◆ vtkQuaternionInterpolationSearchMethod

◆ anonymous enum

Constructor & Destructor Documentation

◆ vtkQuaternionInterpolator()

◆ ~vtkQuaternionInterpolator()

Member Function Documentation

◆ IsTypeOf()

◆ IsA()

◆ SafeDownCast()

◆ NewInstanceInternal()

◆ NewInstance()

◆ PrintSelf()

◆ New()

◆ GetNumberOfQuaternions()

◆ GetMinimumT()

◆ GetMaximumT()

◆ Initialize()

◆ AddQuaternion() [1/2]

◆ AddQuaternion() [2/2]

◆ RemoveQuaternion()

◆ InterpolateQuaternion() [1/2]

◆ InterpolateQuaternion() [2/2]

◆ GetSearchMethod()

◆ SetSearchMethod()

◆ SetInterpolationType()

◆ GetInterpolationType()

◆ SetInterpolationTypeToLinear()

◆ SetInterpolationTypeToSpline()

◆ SetTimedQuaternions()

◆ GetTimedQuaternions()

Member Data Documentation

◆ InterpolationType

◆ SearchMethod

◆ QuaternionList