All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Groups Pages
RotationSpline.hh
Go to the documentation of this file.
1 /*
2 -----------------------------------------------------------------------------
3 This source file is part of OGRE
4  (Object-oriented Graphics Rendering Engine)
5 For the latest info, see http://www.ogre3d.org/
6 
7 Copyright (_c) 2000-2009 Torus Knot Software Ltd
8 
9 Permission is hereby granted, free of charge, to any person obtaining a copy
10 of this software and associated documentation files (the _"Software"), to deal
11 in the Software without restriction, including without limitation the rights
12 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
13 copies of the Software, and to permit persons to whom the Software is
14 furnished to do so, subject to the following conditions:
15 
16 The above copyright notice and this permission notice shall be included in
17 all copies or substantial portions of the Software.
18 
19 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
20 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
21 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
22 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
23 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
24 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
25 THE SOFTWARE.
26 -----------------------------------------------------------------------------
27 */
28 #ifndef _ROTATIONSPLINE_HH_
29 #define _ROTATIONSPLINE_HH_
30 
31 #include <vector>
32 #include "math/Quaternion.hh"
33 
34 namespace gazebo
35 {
36  namespace math
37  {
40 
44  {
46  public: RotationSpline();
47 
49  public: ~RotationSpline();
50 
53  public: void AddPoint(const Quaternion &_p);
54 
59  public: const Quaternion &GetPoint(unsigned int _index) const;
60 
63  public: unsigned int GetNumPoints() const;
64 
66  public: void Clear();
67 
72  public: void UpdatePoint(unsigned int _index, const Quaternion &_value);
73 
83  public: Quaternion Interpolate(double _t, bool _useShortestPath = true);
84 
93  public: Quaternion Interpolate(unsigned int _fromIndex, double _t,
94  bool _useShortestPath = true);
95 
110  public: void SetAutoCalculate(bool _autoCalc);
111 
116  public: void RecalcTangents();
117 
120  protected: bool autoCalc;
121 
123  protected: std::vector<Quaternion> points;
124 
126  protected: std::vector<Quaternion> tangents;
127  };
129  }
130 }
131 
132 #endif