Class MatInterpolationKit

Namespace

Hi.Machining

Assembly

HiMech.dll

Provides functionality for interpolating between two transformation matrices.

public class MatInterpolationKit

Inheritance

object

MatInterpolationKit

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

object.ReferenceEquals(object, object)

object.ToString()

Extension Methods

DuplicateUtil.TryDuplicate<TSelf>(TSelf, params object[])

InvokeUtil.SelfInvoke<TSrc>(TSrc, Action<TSrc>)

InvokeUtil.SelfInvoke<TSrc, TDst>(TSrc, Func<TSrc, TDst>)

ColorUtil.GetGloomyColor(object, double, double)

KindNameUtil.KindName(object)

NameUtil.GetSelectionName(object)

StringUtil.GetPropertyStringIfToStringNotOverloaded(object, bool, bool)

LockUtil.Lock(object)

Remarks

A shell over the native mechmotionmat_interpolation_kit_t (core.dll, mat_interpolation__* in Hi.Motion.NativeMotion): the kit is built once by the constructor into a caller-owned struct and every interpolation is computed natively from it.

Constructors

MatInterpolationKit(mat4d_t, mat4d_t)

Initializes a new instance of the MatInterpolationKit class with two matrices.

public MatInterpolationKit(mat4d_t m0, mat4d_t m1)

Parameters

m0 mat4d_t

The first matrix.

m1 mat4d_t

The second matrix.

Properties

Mat0

Gets the first matrix.

public mat4d_t Mat0 { get; }

Property Value

mat4d_t

Mat1

Gets the second matrix.

public mat4d_t Mat1 { get; }

Property Value

mat4d_t

RotationAxisAngle

Gets the rotation axis and angle between the two matrices.

public AxisAngle4d RotationAxisAngle { get; }

Property Value

AxisAngle4d

Trans

Gets the translation vector between the two matrices.

public vec3d_t Trans { get; }

Property Value

vec3d_t

Methods

GetInterpolation(double)

Gets the pose alpha of the way from Mat0 to Mat1: the rotation alpha · RotationAxisAngle applied to Mat0 (the shortest rotation between the two, in equal steps), the position linear between the two.

public mat4d_t GetInterpolation(double alpha)

Parameters

alpha double

The interpolation factor between 0 and 1.

Returns

mat4d_t

The interpolated matrix.