us.ihmc.utilities.kinematics
Class TransformInterpolationCalculator
java.lang.Object
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.
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 |
TransformInterpolationCalculator
public TransformInterpolationCalculator()
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