Spline.hh
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1 /*
2  * Copyright (C) 2012-2014 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,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 // Note: Originally cribbed from Ogre3d. Modified to implement Cardinal
18 // spline and catmull-rom spline
19 #ifndef IGNITION_MATH_SPLINE_HH_
20 #define IGNITION_MATH_SPLINE_HH_
21 
22 #include <ignition/math/Helpers.hh>
23 #include <ignition/math/Vector3.hh>
24 
25 namespace ignition
26 {
27  namespace math
28  {
29  // Forward declare private data class
30  class SplinePrivate;
31 
35  {
37  public: Spline();
38 
40  public: ~Spline();
41 
45  public: void Tension(double _t);
46 
49  public: double Tension() const;
50 
53  public: void AddPoint(const Vector3d &_pt);
54 
59  public: Vector3d Point(const unsigned int _index) const;
60 
63  public: size_t PointCount() const;
64 
69  public: Vector3d Tangent(const unsigned int _index) const;
70 
72  public: void Clear();
73 
80  public: bool UpdatePoint(const unsigned int _index,
81  const Vector3d &_value);
82 
89  public: Vector3d Interpolate(double _t) const;
90 
99  public: Vector3d Interpolate(const unsigned int _fromIndex,
100  const double _t) const;
101 
116  public: void AutoCalculate(bool _autoCalc);
117 
122  public: void RecalcTangents();
123 
126  private: SplinePrivate *dataPtr;
127  };
128  }
129 }
130 #endif
Definition: SplinePrivate.hh:28
Splines.
Definition: Spline.hh:34
#define IGNITION_VISIBLE
Use to represent "symbol visible" if supported.
Definition: System.hh:59
Definition: Angle.hh:38