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RotationSpline.hh
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1 /*
2 -----------------------------------------------------------------------------
3 This source file is part of OGRE
4  (Object-oriented Graphics Rendering Engine)
5 For the latest info, see http://www.ogre3d.org/
6 
7 Copyright (_c) 2000-2009 Torus Knot Software Ltd
8 
9 Permission is hereby granted, free of charge, to any person obtaining a copy
10 of this software and associated documentation files (the _"Software"), to deal
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16 The above copyright notice and this permission notice shall be included in
17 all copies or substantial portions of the Software.
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19 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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26 -----------------------------------------------------------------------------
27 */
28 #ifndef ROTATIONALSPLINE_HH
29 #define ROTATIONALSPLINE_HH
30 
31 #include <vector>
32 #include "math/Quaternion.hh"
33 
34 namespace gazebo
35 {
36  namespace math
37  {
40 
43  {
45  public: RotationSpline();
46 
48  public: ~RotationSpline();
49 
52  public: void AddPoint(const Quaternion &_p);
53 
58  public: const Quaternion &GetPoint(unsigned int _index) const;
59 
62  public: unsigned int GetNumPoints() const;
63 
65  public: void Clear();
66 
71  public: void UpdatePoint(unsigned int _index, const Quaternion &_value);
72 
82  public: Quaternion Interpolate(double _t, bool _useShortestPath = true);
83 
92  public: Quaternion Interpolate(unsigned int _fromIndex, double _t,
93  bool _useShortestPath = true);
94 
109  public: void SetAutoCalculate(bool _autoCalc);
110 
115  public: void RecalcTangents();
116 
119  protected: bool autoCalc;
120 
122  protected: std::vector<Quaternion> points;
123 
125  protected: std::vector<Quaternion> tangents;
126  };
128  }
129 }
130 
131 #endif