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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 _ROTATIONSPLINE_HH_
18 #define _ROTATIONSPLINE_HH_
19 
20 #include <vector>
22 
23 namespace gazebo
24 {
25  namespace math
26  {
29 
33  {
35  public: RotationSpline();
36 
38  public: ~RotationSpline();
39 
42  public: void AddPoint(const Quaternion &_p);
43 
48  public: const Quaternion &GetPoint(unsigned int _index) const;
49 
52  public: unsigned int GetNumPoints() const;
53 
55  public: void Clear();
56 
61  public: void UpdatePoint(unsigned int _index, const Quaternion &_value);
62 
72  public: Quaternion Interpolate(double _t, bool _useShortestPath = true);
73 
82  public: Quaternion Interpolate(unsigned int _fromIndex, double _t,
83  bool _useShortestPath = true);
84 
99  public: void SetAutoCalculate(bool _autoCalc);
100 
105  public: void RecalcTangents();
106 
109  protected: bool autoCalc;
110 
112  protected: std::vector<Quaternion> points;
113 
115  protected: std::vector<Quaternion> tangents;
116  };
118  }
119 }
120 
121 #endif