ros::tf中的插值函数

最新推荐文章于 2024-01-09 16:11:31 发布

waihekor

最新推荐文章于 2024-01-09 16:11:31 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/waihekor/article/details/107882971

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插值函数原型链接如下：
ros::tf中的插值函数

验证代码如下：

#include <ros/ros.h>
#include <geometry_msgs/PointStamped.h>
#include <tf/transform_listener.h>
int main(int argc, char** argv){
	while(1)
	{
		float ratio;
		tf::Vector3 data_begin(0,0,0);
		tf::Vector3 data_end(2,3,4);
		tf::Vector3 data_lerp;

		ROS_INFO("data_begin.x = %f data_begin.y = %f data_begin.z = %f",data_begin.x(),data_begin.y(),data_begin.z());
		ROS_INFO("data_end.x = %f data_end.y = %f data_end.z = %f",data_end.x(),data_end.y(),data_end.z());

		ratio = 0;
		data_lerp = data_begin.lerp(data_end,ratio);
		ROS_INFO("ratio = %f ",ratio);
		ROS_INFO("data_lerp.x = %f data_lerp.y = %f data_lerp.z = %f",data_lerp.x(),data_lerp.y(),data_lerp.z());

		ratio = 0.3;
		data_lerp = data_begin.lerp(data_end,ratio);
		ROS_INFO("ratio = %f ",ratio);
		ROS_INFO("data_lerp.x = %f data_lerp.y = %f data_lerp.z = %f",data_lerp.x(),data_lerp.y(),data_lerp.z());

		ratio = 0.5;
		data_lerp = data_begin.lerp(data_end,ratio);
		ROS_INFO("ratio = %f ",ratio);
		ROS_INFO("data_lerp.x = %f data_lerp.y = %f data_lerp.z = %f",data_lerp.x(),data_lerp.y(),data_lerp.z());

		ratio = 0.7;
		data_lerp = data_begin.lerp(data_end,ratio);
		ROS_INFO("ratio = %f ",ratio);
		ROS_INFO("data_lerp.x = %f data_lerp.y = %f data_lerp.z = %f",data_lerp.x(),data_lerp.y(),data_lerp.z());

		ratio = 1;
		data_lerp = data_begin.lerp(data_end,ratio);
		ROS_INFO("ratio = %f ",ratio);
		ROS_INFO("data_lerp.x = %f data_lerp.y = %f data_lerp.z = %f",data_lerp.x(),data_lerp.y(),data_lerp.z());

	}  
  }