Spline.hh

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/*
 * Copyright (C) 2012-2014 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
// Note: Originally cribbed from Ogre3d. Modified to implement Cardinal
// spline and catmull-rom spline
#ifndef _SPLINE_HH_
#define _SPLINE_HH_

#include <vector>

#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Matrix4.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace math
  {

    class GAZEBO_VISIBLE Spline
    {
      public: Spline();

      public: ~Spline();

      public: void SetTension(double _t);

      public: double GetTension() const;

      public: void AddPoint(const Vector3 &_pt);

      public: Vector3 GetPoint(unsigned int _index) const;

      public: unsigned int GetPointCount() const;

      public: Vector3 GetTangent(unsigned int _index) const;

      public: void Clear();

      public: void UpdatePoint(unsigned int _index, const Vector3 &_value);

      public: Vector3 Interpolate(double _t) const;

      public: Vector3 Interpolate(unsigned int _fromIndex, double _t) const;


      public: void SetAutoCalculate(bool _autoCalc);

      public: void RecalcTangents();

      protected: bool autoCalc;

      protected: std::vector<Vector3> points;

      protected: std::vector<Vector3> tangents;

      protected: Matrix4 coeffs;

      protected: double tension;
    };
  }
}
#endif