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gazebo
math
Spline.hh
Go to the documentation of this file.
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/*
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* Copyright 2012 Nate Koenig
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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// Note: Originally cribbed from Ogre3d. Modified to implement Cardinal
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// spline and catmull-rom spline
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#ifndef _SPLINE_HH_
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#define _SPLINE_HH_
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#include <vector>
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#include "
math/Vector3.hh
"
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#include "
math/Matrix4.hh
"
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namespace
gazebo
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{
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namespace
math
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{
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class
Spline
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{
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public
:
Spline
();
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public
:
~Spline
();
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public
:
void
SetTension
(
double
_t);
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public
:
double
GetTension
()
const
;
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public
:
void
AddPoint
(
const
Vector3
&_pt);
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public
:
Vector3
GetPoint
(
unsigned
int
_index)
const
;
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public
:
unsigned
int
GetPointCount
()
const
;
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public
:
Vector3
GetTangent
(
unsigned
int
_index)
const
;
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public
:
void
Clear
();
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public
:
void
UpdatePoint
(
unsigned
int
_index,
const
Vector3
&_value);
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public
:
Vector3
Interpolate
(
double
_t)
const
;
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public
:
Vector3
Interpolate
(
unsigned
int
_fromIndex,
double
_t)
const
;
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public
:
void
SetAutoCalculate
(
bool
_autoCalc);
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public
:
void
RecalcTangents
();
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protected
:
bool
autoCalc
;
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protected
: std::vector<Vector3>
points
;
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protected
: std::vector<Vector3>
tangents
;
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protected
:
Matrix4
coeffs
;
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protected
:
double
tension
;
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};
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}
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}
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#endif