RotationSpline.hh

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/*
 * Copyright 2012 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.
 *
*/
#ifndef _ROTATIONSPLINE_HH_
#define _ROTATIONSPLINE_HH_

#include <vector>
#include "gazebo/math/Quaternion.hh"

namespace gazebo
{
  namespace math
  {

    class  RotationSpline
    {
        public: RotationSpline();

        public: ~RotationSpline();

        public: void AddPoint(const Quaternion &_p);

        public: const Quaternion &GetPoint(unsigned int _index) const;

        public: unsigned int GetNumPoints() const;

        public: void Clear();

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

        public: Quaternion Interpolate(double _t, bool _useShortestPath = true);

        public: Quaternion Interpolate(unsigned int _fromIndex, double _t,
            bool _useShortestPath = true);

        public: void SetAutoCalculate(bool _autoCalc);

      public: void RecalcTangents();

      protected: bool autoCalc;

      protected: std::vector<Quaternion> points;

      protected: std::vector<Quaternion> tangents;
    };
  }
}

#endif