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vtkQuaternionInterpolator Class Reference

interpolate a quaternion More...

#include <vtkQuaternionInterpolator.h>

Inheritance diagram for vtkQuaternionInterpolator:
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Collaboration diagram for vtkQuaternionInterpolator:
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Public Types

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. More...
 
vtkQuaternionInterpolatorNewInstance () const
 
void PrintSelf (ostream &os, vtkIndent indent) override
 Methods invoked by print to print information about the object including superclasses. More...
 
int GetNumberOfQuaternions ()
 Return the number of quaternions in the list of quaternions to be interpolated. More...
 
double GetMinimumT ()
 Obtain some information about the interpolation range. More...
 
double GetMaximumT ()
 
void Initialize ()
 Reset the class so that it contains no data; i.e., the array of (t,q[4]) information is discarded. More...
 
void AddQuaternion (double t, const vtkQuaterniond &q)
 Add another quaternion to the list of quaternions to be interpolated. More...
 
void AddQuaternion (double t, double q[4])
 
void RemoveQuaternion (double t)
 Delete the quaternion at a particular parameter t. More...
 
void InterpolateQuaternion (double t, vtkQuaterniond &q)
 Interpolate the list of quaternions and determine a new quaternion (i.e., fill in the quaternion provided). More...
 
void InterpolateQuaternion (double t, double q[4])
 
virtual void SetInterpolationType (int)
 Specify which type of function to use for interpolation. More...
 
virtual int GetInterpolationType ()
 
void SetInterpolationTypeToLinear ()
 
void SetInterpolationTypeToSpline ()
 
- Public Member Functions inherited from vtkObject
 vtkBaseTypeMacro (vtkObject, vtkObjectBase)
 
virtual void DebugOn ()
 Turn debugging output on. More...
 
virtual void DebugOff ()
 Turn debugging output off. More...
 
bool GetDebug ()
 Get the value of the debug flag. More...
 
void SetDebug (bool debugFlag)
 Set the value of the debug flag. More...
 
virtual void Modified ()
 Update the modification time for this object. More...
 
virtual vtkMTimeType GetMTime ()
 Return this object's modified time. More...
 
unsigned long AddObserver (unsigned long event, vtkCommand *, float priority=0.0f)
 Allow people to add/remove/invoke observers (callbacks) to any VTK object. More...
 
unsigned long AddObserver (const char *event, vtkCommand *, float priority=0.0f)
 
vtkCommandGetCommand (unsigned long tag)
 
void RemoveObserver (vtkCommand *)
 
void RemoveObservers (unsigned long event, vtkCommand *)
 
void RemoveObservers (const char *event, vtkCommand *)
 
vtkTypeBool HasObserver (unsigned long event, vtkCommand *)
 
vtkTypeBool HasObserver (const char *event, vtkCommand *)
 
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)
 
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. More...
 
template<class U , class T >
unsigned long AddObserver (unsigned long event, U observer, void(T::*callback)(vtkObject *, unsigned long, void *), float priority=0.0f)
 
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. More...
 
int InvokeEvent (unsigned long event, void *callData)
 This method invokes an event and return whether the event was aborted or not. More...
 
int InvokeEvent (const char *event, void *callData)
 
int InvokeEvent (unsigned long event)
 
int InvokeEvent (const char *event)
 
- Public Member Functions inherited from vtkObjectBase
const char * GetClassName () const
 Return the class name as a string. More...
 
virtual void Delete ()
 Delete a VTK object. More...
 
virtual void FastDelete ()
 Delete a reference to this object. More...
 
void InitializeObjectBase ()
 
void Print (ostream &os)
 Print an object to an ostream. More...
 
virtual void PrintHeader (ostream &os, vtkIndent indent)
 
virtual void PrintTrailer (ostream &os, vtkIndent indent)
 
virtual void Register (vtkObjectBase *o)
 Increase the reference count (mark as used by another object). More...
 
virtual void UnRegister (vtkObjectBase *o)
 Decrease the reference count (release by another object). More...
 
int GetReferenceCount ()
 Return the current reference count of this object. More...
 
void SetReferenceCount (int)
 Sets the reference count. More...
 
void PrintRevisions (ostream &)
 Legacy. More...
 

Static Public Member Functions

static vtkTypeBool IsTypeOf (const char *type)
 
static vtkQuaternionInterpolatorSafeDownCast (vtkObjectBase *o)
 
static vtkQuaternionInterpolatorNew ()
 Instantiate the class. More...
 
- Static Public Member Functions inherited from vtkObject
static vtkObjectNew ()
 Create an object with Debug turned off, modified time initialized to zero, and reference counting on. More...
 
static void BreakOnError ()
 This method is called when vtkErrorMacro executes. More...
 
static void SetGlobalWarningDisplay (int val)
 This is a global flag that controls whether any debug, warning or error messages are displayed. More...
 
static void GlobalWarningDisplayOn ()
 
static void GlobalWarningDisplayOff ()
 
static int GetGlobalWarningDisplay ()
 
- 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. More...
 
static vtkObjectBaseNew ()
 Create an object with Debug turned off, modified time initialized to zero, and reference counting on. More...
 

Protected Member Functions

virtual vtkObjectBaseNewInstanceInternal () 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. More...
 
void InternalReleaseFocus ()
 
- Protected Member Functions inherited from vtkObjectBase
 vtkObjectBase ()
 
virtual ~vtkObjectBase ()
 
virtual void CollectRevisions (ostream &)
 
virtual void ReportReferences (vtkGarbageCollector *)
 
 vtkObjectBase (const vtkObjectBase &)
 
void operator= (const vtkObjectBase &)
 

Protected Attributes

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

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

Definition at line 64 of file vtkQuaternionInterpolator.h.

Member Typedef Documentation

◆ Superclass

Definition at line 67 of file vtkQuaternionInterpolator.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enums to control the type of interpolation to use.

Enumerator
INTERPOLATION_TYPE_LINEAR 
INTERPOLATION_TYPE_SPLINE 

Definition at line 128 of file vtkQuaternionInterpolator.h.

Constructor & Destructor Documentation

◆ vtkQuaternionInterpolator()

vtkQuaternionInterpolator::vtkQuaternionInterpolator ( )
protected

◆ ~vtkQuaternionInterpolator()

vtkQuaternionInterpolator::~vtkQuaternionInterpolator ( )
overrideprotected

Member Function Documentation

◆ IsTypeOf()

static 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()

static 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()

static 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 ( )

◆ 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] 
)

◆ 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] 
)

◆ SetInterpolationType()

virtual void vtkQuaternionInterpolator::SetInterpolationType ( int  )
virtual

Specify which type of function to use for interpolation.

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

◆ GetInterpolationType()

virtual int vtkQuaternionInterpolator::GetInterpolationType ( )
virtual

◆ SetInterpolationTypeToLinear()

void vtkQuaternionInterpolator::SetInterpolationTypeToLinear ( )
inline

Definition at line 144 of file vtkQuaternionInterpolator.h.

◆ SetInterpolationTypeToSpline()

void vtkQuaternionInterpolator::SetInterpolationTypeToSpline ( )
inline

Definition at line 145 of file vtkQuaternionInterpolator.h.

Member Data Documentation

◆ InterpolationType

int vtkQuaternionInterpolator::InterpolationType
protected

Definition at line 153 of file vtkQuaternionInterpolator.h.

◆ QuaternionList

vtkQuaternionList* vtkQuaternionInterpolator::QuaternionList
protected

Definition at line 156 of file vtkQuaternionInterpolator.h.


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