us.ihmc.utilities.kinematics
Class TransformInterpolationCalculator

java.lang.Object
  extended by us.ihmc.utilities.kinematics.TransformInterpolationCalculator

public class TransformInterpolationCalculator
extends java.lang.Object

Created with IntelliJ IDEA. User: pneuhaus Date: 4/25/13 Time: 3:42 PM To change this template use File | Settings | File Templates.


Constructor Summary
TransformInterpolationCalculator()
           
 
Method Summary
static javax.media.j3d.Transform3D computeInterpolation(javax.media.j3d.Transform3D transform1, javax.media.j3d.Transform3D transform2, double alpha)
          Computes the interpolation between the two transforms using the alpha parameter to control the blend.
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

TransformInterpolationCalculator

public TransformInterpolationCalculator()
Method Detail

computeInterpolation

public static javax.media.j3d.Transform3D computeInterpolation(javax.media.j3d.Transform3D transform1,
                                                               javax.media.j3d.Transform3D transform2,
                                                               double alpha)
Computes the interpolation between the two transforms using the alpha parameter to control the blend. Note that the transforms must have a proper rotation matrix, meaning it satsfies: R'R = I and det(R) = 1

Parameters:
transform1 -
transform2 -
alpha - Ranges from [0, 1], where return = (1- alpha) * tansform1 + (alpha) * transform2
Returns:
return = (1- alpha) * tansform1 + alpha * transform2