From 633f4dfbba372da2c958fcb3aafc936e6a01bc0a Mon Sep 17 00:00:00 2001
From: Jesse Mapel <jmapel@usgs.gov>
Date: Mon, 6 Jul 2020 15:18:26 -0700
Subject: [PATCH] Added time dep only rotation interpolation
---
include/ale/Orientations.h | 8 ++++++++
src/Orientations.cpp | 19 +++++++++++++------
tests/ctests/OrientationsTests.cpp | 13 +++++++++++++
3 files changed, 34 insertions(+), 6 deletions(-)
diff --git a/include/ale/Orientations.h b/include/ale/Orientations.h
index ece9eef..0200f75 100644
--- a/include/ale/Orientations.h
+++ b/include/ale/Orientations.h
@@ -41,6 +41,14 @@ namespace ale {
std::vector<int> getTimeDependentFrames() const;
Rotation getConstantRotation() const;
+ /**
+ * Get the time dependent component of the interpolated rotation at a specific time.
+ */
+ Rotation interpolateTimeDep(
+ double time,
+ RotationInterpolation interpType=SLERP
+ ) const;
+
/**
* Get the interpolated rotation at a specific time.
*/
diff --git a/src/Orientations.cpp b/src/Orientations.cpp
index ef872f2..0e5c3d0 100644
--- a/src/Orientations.cpp
+++ b/src/Orientations.cpp
@@ -51,27 +51,34 @@ namespace ale {
return m_constRotation;
}
- Rotation Orientations::interpolate(
+ Rotation Orientations::interpolateTimeDep(
double time,
RotationInterpolation interpType
) const {
- Rotation interpRotation;
+ Rotation timeDepRotation;
if (m_times.size() > 1) {
int interpIndex = interpolationIndex(m_times, time);
double t = (time - m_times[interpIndex]) / (m_times[interpIndex + 1] - m_times[interpIndex]);
- interpRotation = m_constRotation * m_rotations[interpIndex].interpolate(m_rotations[interpIndex + 1], t, interpType);
+ timeDepRotation = m_rotations[interpIndex].interpolate(m_rotations[interpIndex + 1], t, interpType);
}
else if (m_avs.empty()) {
- interpRotation = m_constRotation * m_rotations.front();
+ timeDepRotation = m_rotations.front();
}
else {
double t = time - m_times.front();
std::vector<double> axis = {m_avs.front().x, m_avs.front().y, m_avs.front().z};
double angle = t * m_avs.front().norm();
Rotation newRotation(axis, angle);
- interpRotation = m_constRotation * newRotation * m_rotations.front();
+ timeDepRotation = newRotation * m_rotations.front();
}
- return interpRotation;
+ return timeDepRotation;
+ }
+
+ Rotation Orientations::interpolate(
+ double time,
+ RotationInterpolation interpType
+ ) const {
+ return m_constRotation * interpolateTimeDep(time, interpType);
}
diff --git a/tests/ctests/OrientationsTests.cpp b/tests/ctests/OrientationsTests.cpp
index 285efac..40df1fd 100644
--- a/tests/ctests/OrientationsTests.cpp
+++ b/tests/ctests/OrientationsTests.cpp
@@ -93,6 +93,19 @@ TEST_F(OrientationTest, ConstructorAccessors) {
}
}
+TEST_F(ConstOrientationTest, InterpolateTimeDep) {
+ Rotation interpRotation = constOrientations.interpolateTimeDep(0.25);
+ Rotation expectedRotation = orientations.interpolate(0.25);
+ vector<double> quat = interpRotation.toQuaternion();
+ vector<double> expectedQuat = expectedRotation.toQuaternion();
+ ASSERT_EQ(quat.size(), 4);
+ ASSERT_EQ(expectedQuat.size(), 4);
+ EXPECT_NEAR(quat[0], expectedQuat[0], 1e-10);
+ EXPECT_NEAR(quat[1], expectedQuat[1], 1e-10);
+ EXPECT_NEAR(quat[2], expectedQuat[2], 1e-10);
+ EXPECT_NEAR(quat[3], expectedQuat[3], 1e-10);
+}
+
TEST_F(OrientationTest, Interpolate) {
Rotation interpRotation = orientations.interpolate(0.25);
vector<double> quat = interpRotation.toQuaternion();
--
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