RotationSpline.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.
 *
*/
#ifndef _IGNITION_ROTATIONSPLINE_HH_
#define _IGNITION_ROTATIONSPLINE_HH_

#include <vector>
#include <ignition/math/Helpers.hh>
#include <ignition/math/IndexException.hh>
#include <ignition/math/Quaternion.hh>

namespace ignition
{
  namespace math
  {
    class IGNITION_VISIBLE  RotationSpline
    {
      public: RotationSpline();

      public: ~RotationSpline();

      public: void AddPoint(const Quaterniond &_p);

      public: const Quaterniond &Point(unsigned int _index) const;

      public: unsigned int PointCount() const;

      public: void Clear();

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

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

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

      public: void AutoCalculate(bool _autoCalc);

      public: void RecalcTangents();

      protected: bool autoCalc;

      protected: std::vector<Quaterniond> points;

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

#endif