/// <summary> /// Constructs a spline by specifying the poses and movements of the two /// endpoints. The time range of the spline is 0 to 1. /// </summary> public HermitePoseSpline(Pose pose0, Pose pose1, Movement move0, Movement move1) { pSpline = new HermiteSpline3(pose0.position, pose1.position, move0.velocity, move1.velocity); qSpline = new HermiteQuaternionSpline(pose0.rotation, pose1.rotation, move0.angularVelocity, move1.angularVelocity); }
/// <summary> /// Constructs a spline by specifying the poses of the two endpoints. The velocity /// and angular velocity at each endpoint is zero, and the time range of the spline /// is 0 to 1. /// </summary> public HermitePoseSpline(Pose pose0, Pose pose1) { pSpline = new HermiteSpline3(pose0.position, pose1.position); qSpline = new HermiteQuaternionSpline(pose0.rotation, pose1.rotation); }