RotationSpline.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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15  *
16 */
17 #ifndef IGNITION_MATH_ROTATIONSPLINE_HH_
18 #define IGNITION_MATH_ROTATIONSPLINE_HH_
19 
21 
22 namespace ignition
23 {
24  namespace math
25  {
26  // Forward declare private data
27  class RotationSplinePrivate;
28 
32  {
34  public: RotationSpline();
35 
37  public: ~RotationSpline();
38 
41  public: void AddPoint(const Quaterniond &_p);
42 
50  public: const Quaterniond &Point(const unsigned int _index) const;
51 
54  public: unsigned int PointCount() const;
55 
57  public: void Clear();
58 
65  public: bool UpdatePoint(const unsigned int _index,
66  const Quaterniond &_value);
67 
78  public: Quaterniond Interpolate(double _t,
79  const bool _useShortestPath = true);
80 
90  public: Quaterniond Interpolate(const unsigned int _fromIndex,
91  const double _t, const bool _useShortestPath = true);
92 
107  public: void AutoCalculate(bool _autoCalc);
108 
113  public: void RecalcTangents();
114 
116  private: RotationSplinePrivate *dataPtr;
117  };
118  }
119 }
120 
121 #endif
Definition: RotationSplinePrivate.hh:29
Spline for rotations.
Definition: RotationSpline.hh:31
#define IGNITION_VISIBLE
Use to represent "symbol visible" if supported.
Definition: System.hh:59
Definition: Angle.hh:38