gazebo::math::RotationSpline Class Reference

Spline for rotations. More...

#include <math/gzmath.hh>

Public Member Functions
	RotationSpline ()
	Constructor. Sets the autoCalc to true. More...
	~RotationSpline ()
	Destructor. Nothing is done. More...
void	AddPoint (const Quaternion &_p)
	Adds a control point to the end of the spline. More...
void	Clear ()
	Clears all the points in the spline. More...
unsigned int	GetNumPoints () const
	Gets the number of control points in the spline. More...
const Quaternion &	GetPoint (unsigned int _index) const
	Gets the detail of one of the control points of the spline. More...
Quaternion	Interpolate (double _t, bool _useShortestPath=true)
	Returns an interpolated point based on a parametric value over the whole series. More...
Quaternion	Interpolate (unsigned int _fromIndex, double _t, bool _useShortestPath=true)
	Interpolates a single segment of the spline given a parametric value. More...
void	RecalcTangents ()
	Recalculates the tangents associated with this spline. More...
void	SetAutoCalculate (bool _autoCalc)
	Tells the spline whether it should automatically calculate tangents on demand as points are added. More...
void	UpdatePoint (unsigned int _index, const Quaternion &_value)
	Updates a single point in the spline. More...

Protected Attributes
bool	autoCalc
	Automatic recalcultation of tangeants when control points are updated. More...
std::vector< Quaternion >	points
	the control points More...
std::vector< Quaternion >	tangents
	the tangents More...

Detailed Description

Spline for rotations.

Constructor & Destructor Documentation

gazebo::math::RotationSpline::RotationSpline

(

)

Constructor. Sets the autoCalc to true.

gazebo::math::RotationSpline::~RotationSpline

(

)

Destructor. Nothing is done.

Member Function Documentation

void gazebo::math::RotationSpline::AddPoint

(

const Quaternion &

_p

)

Adds a control point to the end of the spline.

Parameters

[in]

_p

control point

void gazebo::math::RotationSpline::Clear

(

)

Clears all the points in the spline.

unsigned int gazebo::math::RotationSpline::GetNumPoints

(

)

const

Gets the number of control points in the spline.

Returns

the count

const Quaternion& gazebo::math::RotationSpline::GetPoint

(

unsigned int

_index

)

const

Gets the detail of one of the control points of the spline.

Parameters

[in]

_index

the index of the control point.

Remarks

This point must already exist in the spline.

Returns

a quaternion (out of bound index result in assertion)

Quaternion gazebo::math::RotationSpline::Interpolate	(	double	_t,
		bool	_useShortestPath = true
	)

Returns an interpolated point based on a parametric value over the whole series.

Remarks

Given a t value between 0 and 1 representing the parametric distance along the whole length of the spline, this method returns an interpolated point.

Parameters

[in]	_t	Parametric value.
[in]	_useShortestPath	Defines if rotation should take the shortest possible path

Returns

the rotation

Quaternion gazebo::math::RotationSpline::Interpolate	(	unsigned int	_fromIndex,
		double	_t,
		bool	_useShortestPath = true
	)

Interpolates a single segment of the spline given a parametric value.

Parameters

[in]	_fromIndex	The point index to treat as t = 0. _fromIndex + 1 is deemed to be t = 1
[in]	_t	Parametric value
[in]	_useShortestPath	Defines if rotation should take the shortest possible path

Returns

the rotation

void gazebo::math::RotationSpline::RecalcTangents

(

)

Recalculates the tangents associated with this spline.

Remarks

If you tell the spline not to update on demand by calling setAutoCalculate(false) then you must call this after completing your updates to the spline points.

void gazebo::math::RotationSpline::SetAutoCalculate

(

bool

_autoCalc

)

Tells the spline whether it should automatically calculate tangents on demand as points are added.

Remarks

The spline calculates tangents at each point automatically based on the input points. Normally it does this every time a point changes. However, if you have a lot of points to add in one go, you probably don't want to incur this overhead and would prefer to defer the calculation until you are finished setting all the points. You can do this by calling this method with a parameter of 'false'. Just remember to manually call the recalcTangents method when you are done.

Parameters

[in]

_autoCalc

If true, tangents are calculated for you whenever a point changes. If false, you must call reclacTangents to recalculate them when it best suits.

void gazebo::math::RotationSpline::UpdatePoint	(	unsigned int	_index,
		const Quaternion &	_value
	)

Updates a single point in the spline.

Remarks

This point must already exist in the spline.

Parameters

[in]	_index	index
[in]	_value	the new control point value

Member Data Documentation

bool gazebo::math::RotationSpline::autoCalc

protected

Automatic recalcultation of tangeants when control points are updated.

std::vector<Quaternion> gazebo::math::RotationSpline::points

protected

the control points

std::vector<Quaternion> gazebo::math::RotationSpline::tangents

protected

the tangents

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The documentation for this class was generated from the following file:

• RotationSpline.hh