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,
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 #ifndef IGNITION_MATH_ROTATIONSPLINE_HH_
18 #define IGNITION_MATH_ROTATIONSPLINE_HH_
19 
21 #include <ignition/math/config.hh>
22 
23 namespace ignition
24 {
25  namespace math
26  {
27  inline namespace IGNITION_MATH_VERSION_NAMESPACE
28  {
29  // Forward declare private data
30  class RotationSplinePrivate;
31 
34  class IGNITION_MATH_VISIBLE RotationSpline
35  {
37  public: RotationSpline();
38 
40  public: ~RotationSpline();
41 
44  public: void AddPoint(const Quaterniond &_p);
45 
53  public: const Quaterniond &Point(const unsigned int _index) const;
54 
57  public: unsigned int PointCount() const;
58 
60  public: void Clear();
61 
68  public: bool UpdatePoint(const unsigned int _index,
69  const Quaterniond &_value);
70 
81  public: Quaterniond Interpolate(double _t,
82  const bool _useShortestPath = true);
83 
93  public: Quaterniond Interpolate(const unsigned int _fromIndex,
94  const double _t, const bool _useShortestPath = true);
95 
110  public: void AutoCalculate(bool _autoCalc);
111 
116  public: void RecalcTangents();
117 
119  private: RotationSplinePrivate *dataPtr;
120  };
121  }
122  }
123 }
124 
125 #endif
ignition
Definition: Angle.hh:39
ignition::math::IGNITION_MATH_VERSION_NAMESPACE::Quaternion
A quaternion class.
Definition: Matrix3.hh:33
Quaternion.hh
ignition::math::IGNITION_MATH_VERSION_NAMESPACE::RotationSpline
Spline for rotations.
Definition: RotationSpline.hh:34