RotationSpline.hh

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/*
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#ifndef _ROTATIONSPLINE_HH_
#define _ROTATIONSPLINE_HH_

#include <vector>
#include "math/Quaternion.hh"

namespace gazebo
{
  namespace math
  {

    class  RotationSpline
    {
        public: RotationSpline();

        public: ~RotationSpline();

        public: void AddPoint(const Quaternion &_p);

        public: const Quaternion &GetPoint(unsigned int _index) const;

        public: unsigned int GetNumPoints() const;

        public: void Clear();

        public: void UpdatePoint(unsigned int _index, const Quaternion &_value);

        public: Quaternion Interpolate(double _t, bool _useShortestPath = true);

        public: Quaternion Interpolate(unsigned int _fromIndex, double _t,
            bool _useShortestPath = true);

        public: void SetAutoCalculate(bool _autoCalc);

      public: void RecalcTangents();

      protected: bool autoCalc;

      protected: std::vector<Quaternion> points;

      protected: std::vector<Quaternion> tangents;
    };
  }
}

#endif