Description

A rotation function q=f(s) that interpolates n rotations using a SQUAD spherical quadrangle interpolation between quaternions.

Differently from the ChFunctionRotation_spline of order 3, this cubic interpolation really passes through the control points. In the original single-span SQUAD algorithm, 4 quaternions are used: the interpolation passes exactly in 1st and 4th, whereas 2nd and 3rd are 'magnetic' as ctrl points in splines; in our implementation the 2nd and 3rd are computed automatically given the sequence of the many SQUAD spans, per each span, enforcing continuity inter span.

#include <ChFunctionRotation_SQUAD.h>

Inheritance diagram for chrono::ChFunctionRotation_SQUAD:

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Collaboration diagram for chrono::ChFunctionRotation_SQUAD:

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Public Member Functions
	ChFunctionRotation_SQUAD ()
	Constructor. By default constructs a linear SLERP between two identical null rotations.

	ChFunctionRotation_SQUAD (const std::vector< ChQuaternion<> > &mrotations, ChVectorDynamic<> *mknots=0)
	Constructor from a given array of control points; each control point is a rotation to interpolate. More...

	ChFunctionRotation_SQUAD (const ChFunctionRotation_SQUAD &other)

virtual ChFunctionRotation_SQUAD *	Clone () const override
	"Virtual" copy constructor.

double	ComputeUfromKnotU (double u) const
	When using Evaluate() etc. More...

double	ComputeKnotUfromU (double U) const
	When using Evaluate() etc. More...

std::vector< ChQuaternion<> > &	Rotations ()
	Access the rotations, ie. quaternion SQUAD control points.

ChVectorDynamic &	Knots ()
	Access the knots.

int	GetOrder ()
	Get the order of spline.

virtual void	SetupData (const std::vector< ChQuaternion<> > &mrotations, ChVectorDynamic<> *mknots=0)
	Initial easy setup from a given array of rotations (quaternion control points). More...

std::shared_ptr< ChFunction >	GetSpaceFunction () const
	Gets the address of the function u=u(s) telling how the curvilinear parameter u of the spline changes in s (time).

void	SetSpaceFunction (std::shared_ptr< ChFunction > m_funct)
	Sets the function u=u(s) telling how the curvilinear parameter of the spline changes in s (time). More...

void	SetClosed (bool mc)
	Set as closed periodic spline: start and end rotations will match at 0 and 1 abscyssa as q(0)=q(1), and the Evaluate() and GetTangent() functions will operate in periodic way (abscyssa greater than 1 or smaller than 0 will wrap to 0..1 range). More...

bool	GetClosed ()
	Tell if the rotation spline is closed periodic.

virtual ChQuaternion	Get_q (double s) const override
	Return the q value of the function, at s, as q=f(s). More...

virtual void	ArchiveOut (ChArchiveOut &marchive) override
	Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame. More...

virtual void	ArchiveIn (ChArchiveIn &marchive) override
	Method to allow de-serialization of transient data from archives.

Public Member Functions inherited from chrono::ChFunctionRotation
	ChFunctionRotation (const ChFunctionRotation &other)

virtual ChVector	Get_w_loc (double s) const
	Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame. More...

virtual ChVector	Get_a_loc (double s) const
	Return the derivative of the rotation function, at s, expressed as angular acceleration in local frame. More...

virtual void	Estimate_s_domain (double &smin, double &smax) const
	Return an estimate of the domain of the function argument. More...

virtual void	Update (double t)
	Update could be implemented by children classes, ex. to launch callbacks.

Constructor & Destructor Documentation

◆ ChFunctionRotation_SQUAD()

chrono::ChFunctionRotation_SQUAD::ChFunctionRotation_SQUAD	(	const std::vector< ChQuaternion<> > &	mrotations,
		ChVectorDynamic<> *	mknots = `0`
	)

Constructor from a given array of control points; each control point is a rotation to interpolate.

Input data is copied. If the knots are not provided, a uniformly spaced knot vector is made.

Parameters

mrotations	rotations, to interpolate. Required: at least n = 2.
mknots	knots, as many as control points. If not provided, initialized to uniform.

Member Function Documentation

◆ ArchiveOut()

void chrono::ChFunctionRotation_SQUAD::ArchiveOut ( ChArchiveOut & marchive )

overridevirtual

Return the derivative of the rotation function, at s, expressed as angular velocity w in local frame.

Return the derivative of the rotation function, at s, expressed as angular acceleration in local frame. Method to allow serialization of transient data to archives

Reimplemented from chrono::ChFunctionRotation.

◆ ComputeKnotUfromU()

double chrono::ChFunctionRotation_SQUAD::ComputeKnotUfromU ( double U ) const

inline

When using Evaluate() etc.

you need U parameter to be in 0..1 range, but knot range is not necessarily in 0..1. So you can convert U->u, where u is in knot range, calling this:

◆ ComputeUfromKnotU()

double chrono::ChFunctionRotation_SQUAD::ComputeUfromKnotU ( double u ) const

inline

When using Evaluate() etc.

you need U parameter to be in 0..1 range, but knot range is not necessarily in 0..1. So you can convert u->U, where u is in knot range, calling this:

◆ Get_q()

ChQuaternion chrono::ChFunctionRotation_SQUAD::Get_q ( double s ) const

overridevirtual

Return the q value of the function, at s, as q=f(s).

Parameter s always work in 0..1 range, even if knots are not in 0..1 range. So if you want to use s in knot range, use ComputeUfromKnotU().

Implements chrono::ChFunctionRotation.

◆ SetClosed()

void chrono::ChFunctionRotation_SQUAD::SetClosed ( bool mc )

Set as closed periodic spline: start and end rotations will match at 0 and 1 abscyssa as q(0)=q(1), and the Evaluate() and GetTangent() functions will operate in periodic way (abscyssa greater than 1 or smaller than 0 will wrap to 0..1 range).

The closure will change the knot vector (multiple start end knots will be lost) and will create auxiliary p control points at the end that will be wrapped to the beginning control points.

◆ SetSpaceFunction()

void chrono::ChFunctionRotation_SQUAD::SetSpaceFunction ( std::shared_ptr< ChFunction > m_funct )

inline

Sets the function u=u(s) telling how the curvilinear parameter of the spline changes in s (time).

Otherwise, by default, is a linear ramp, so evaluates the spline from begin at s=0 to end at s=1

◆ SetupData()

void chrono::ChFunctionRotation_SQUAD::SetupData	(	const std::vector< ChQuaternion<> > &	mrotations,
		ChVectorDynamic<> *	mknots = `0`
	)

virtual

Initial easy setup from a given array of rotations (quaternion control points).

Input data is copied. If the knots are not provided, a uniformly spaced knot vector is made.

Parameters

mrotations	rotations, to interpolate. Required: at least n = 2.
mknots	knots, as many as control points. If not provided, initialized to uniform.

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

/builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_SQUAD.h
/builds/uwsbel/chrono/src/chrono/motion_functions/ChFunctionRotation_SQUAD.cpp

Description

Public Member Functions

Constructor & Destructor Documentation

◆ ChFunctionRotation_SQUAD()

Member Function Documentation

◆ ArchiveOut()

◆ ComputeKnotUfromU()

◆ ComputeUfromKnotU()

◆ Get_q()

◆ SetClosed()

◆ SetSpaceFunction()

◆ SetupData()