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
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16 */
17 #ifndef _ROTATIONSPLINE_HH_
18 #define _ROTATIONSPLINE_HH_
19 
20 #include <vector>
21 
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace math
28  {
31 
34  class GZ_MATH_VISIBLE RotationSpline
35  {
38  public: RotationSpline() GAZEBO_DEPRECATED(8.0);
39 
42  public: ~RotationSpline() GAZEBO_DEPRECATED(8.0);
43 
47  public: void AddPoint(const Quaternion &_p) GAZEBO_DEPRECATED(8.0);
48 
54  public: const Quaternion &GetPoint(unsigned int _index) const
55  GAZEBO_DEPRECATED(8.0);
56 
60  public: unsigned int GetNumPoints() const GAZEBO_DEPRECATED(8.0);
61 
64  public: void Clear() GAZEBO_DEPRECATED(8.0);
65 
71  public: void UpdatePoint(unsigned int _index, const Quaternion &_value)
72  GAZEBO_DEPRECATED(8.0);
73 
84  public: Quaternion Interpolate(double _t, bool _useShortestPath = true)
85  GAZEBO_DEPRECATED(8.0);
86 
96  public: Quaternion Interpolate(unsigned int _fromIndex, double _t,
97  bool _useShortestPath = true) GAZEBO_DEPRECATED(8.0);
98 
114  public: void SetAutoCalculate(bool _autoCalc) GAZEBO_DEPRECATED(8.0);
115 
121  public: void RecalcTangents() GAZEBO_DEPRECATED(8.0);
122 
125  protected: bool autoCalc;
126 
128  protected: std::vector<Quaternion> points;
129 
131  protected: std::vector<Quaternion> tangents;
132  };
134  }
135 }
136 
137 #endif
Forward declarations for the common classes.
Definition: Animation.hh:33
static const double GAZEBO_DEPRECATED(8.0) MAX_D
Double maximum value. This value will be similar to 1.79769e+308.
Definition: Helpers.hh:140
Spline for rotations.
Definition: RotationSpline.hh:34
std::vector< Quaternion > tangents
the tangents
Definition: RotationSpline.hh:131
std::vector< Quaternion > points
the control points
Definition: RotationSpline.hh:128
A quaternion class.
Definition: Quaternion.hh:48
bool autoCalc
Automatic recalcultation of tangeants when control points are updated.
Definition: RotationSpline.hh:125