API
Class List
Class Hierarchy
Globals
Namespace Members
Files
Links
Ignition Website
Report Documentation Issues
All
Classes
Namespaces
Files
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Macros
Pages
include
ignition
math
RotationSpline.hh
Go to the documentation of this file.
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
#ifndef _IGNITION_ROTATIONSPLINE_HH_
18
#define _IGNITION_ROTATIONSPLINE_HH_
19
20
#include <
ignition/math/IndexException.hh
>
21
#include <
ignition/math/Quaternion.hh
>
22
23
namespace
ignition
24
{
25
namespace
math
26
{
27
// Forward declare private data
28
class
RotationSplinePrivate;
29
32
class
IGNITION_VISIBLE
RotationSpline
33
{
35
public
:
RotationSpline
();
36
38
public
: ~
RotationSpline
();
39
42
public
:
void
AddPoint(
const
Quaterniond
&_p);
43
49
public
:
const
Quaterniond
&Point(
unsigned
int
_index)
const
;
50
53
public
:
unsigned
int
PointCount()
const
;
54
56
public
:
void
Clear();
57
63
public
:
void
UpdatePoint(
unsigned
int
_index,
const
Quaterniond
&_value);
64
74
public
:
Quaterniond
Interpolate(
double
_t,
bool
_useShortestPath =
true
);
75
85
public
:
Quaterniond
Interpolate(
unsigned
int
_fromIndex,
double
_t,
86
bool
_useShortestPath =
true
);
87
102
public
:
void
AutoCalculate(
bool
_autoCalc);
103
108
public
:
void
RecalcTangents();
109
111
private
:
RotationSplinePrivate
*dataPtr;
112
};
113
}
114
}
115
116
#endif
ignition::math::RotationSplinePrivate
Definition:
RotationSplinePrivate.hh:29
IGNITION_VISIBLE
#define IGNITION_VISIBLE
Use to represent "symbol visible" if supported.
Definition:
Helpers.hh:408
ignition::math::RotationSpline
Spline for rotations.
Definition:
RotationSpline.hh:32
IndexException.hh
Quaternion.hh
ignition::math::Quaternion< double >