Gazebo Math

API Reference

7.4.0
gz/math/RotationSpline.hh
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1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GZ_MATH_ROTATIONSPLINE_HH_
18#define GZ_MATH_ROTATIONSPLINE_HH_
19
20#include <gz/math/Quaternion.hh>
21#include <gz/math/config.hh>
22#include <gz/utils/ImplPtr.hh>
23
24namespace gz
25{
26 namespace math
27 {
28 // Inline bracket to help doxygen filtering.
29 inline namespace GZ_MATH_VERSION_NAMESPACE {
32 class GZ_MATH_VISIBLE RotationSpline
33 {
35 public: RotationSpline();
36
39 public: void AddPoint(const Quaterniond &_p);
40
48 public: const Quaterniond &Point(const unsigned int _index) const;
49
52 public: unsigned int PointCount() const;
53
55 public: void Clear();
56
63 public: bool UpdatePoint(const unsigned int _index,
64 const Quaterniond &_value);
65
76 public: Quaterniond Interpolate(double _t,
77 const bool _useShortestPath = true);
78
88 public: Quaterniond Interpolate(const unsigned int _fromIndex,
89 const double _t, const bool _useShortestPath = true);
90
105 public: void AutoCalculate(bool _autoCalc);
106
111 public: void RecalcTangents();
112
114 GZ_UTILS_IMPL_PTR(dataPtr)
115 };
116 }
117 }
118}
119
120#endif