Method ComposeTrajectory

ComposeTrajectory(Pose, Pose, float, List<Pose>)

Modifies the given ancestor trajectory by composing its own trajectory, evaluated uniformly in time.

Declaration

void ComposeTrajectory(Pose prevLocalToWorldPose, Pose curLocalToWorldPose, float lerpStep, List<Pose> trajectory)

Parameters

Type	Name	Description
Pose	prevLocalToWorldPose	The pose of the object in the previous frame, in world space.
Pose	curLocalToWorldPose	The pose of the object in the current frame, in world space.
float	lerpStep	The interpolation step between consecutive poses.
List<Pose>	trajectory	The evaluated poses along the trajectory, in world space.

Remarks

Unless isLocal is false, the generator computes its pose in local space, then composes it to its parent pose to get the trajectory in world space. lerpStep is chosen such that trajectoryIdx * lerpStep is 0 for the first pose, and 1 for the last pose. It is computed like this: lerpStep = 1 / (trajectoryCount - 1).