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KeyFrame.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 _KEYFRAME_HH_
18 #define _KEYFRAME_HH_
19 
20 #include "gazebo/math/Vector3.hh"
22 #include "gazebo/util/system.hh"
23 
24 namespace gazebo
25 {
26  namespace common
27  {
30 
34  {
37  public: KeyFrame(double _time);
38 
40  public: virtual ~KeyFrame();
41 
44  public: double GetTime() const;
45 
47  protected: double time;
48  };
49 
52  {
55  public: PoseKeyFrame(double _time);
56 
58  public: virtual ~PoseKeyFrame();
59 
62  public: void SetTranslation(const math::Vector3 &_trans);
63 
66  public: const math::Vector3 &GetTranslation() const;
67 
70  public: void SetRotation(const math::Quaternion &_rot);
71 
74  public: const math::Quaternion &GetRotation() const;
75 
78 
81  };
82 
85  {
88  public: NumericKeyFrame(double _time);
89 
91  public: virtual ~NumericKeyFrame();
92 
95  public: void SetValue(const double &_value);
96 
99  public: const double &GetValue() const;
100 
102  protected: double value;
103  };
105  }
106 }
107 #endif