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RotationSpline.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 #ifndef _IGNITION_ROTATIONSPLINE_HH_
18 #define _IGNITION_ROTATIONSPLINE_HH_
19 
22 
23 namespace ignition
24 {
25  namespace math
26  {
27  // Forward declare private data
28  class RotationSplinePrivate;
29 
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
Definition: RotationSplinePrivate.hh:29
#define IGNITION_VISIBLE
Use to represent "symbol visible" if supported.
Definition: Helpers.hh:408
Spline for rotations.
Definition: RotationSpline.hh:32