gz/common/KeyFrame.hh

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/*
 * Copyright (C) 2016 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 GZ_COMMON_KEYFRAME_HH_
#define GZ_COMMON_KEYFRAME_HH_
 
#include <gz/math/Vector3.hh>
#include <gz/math/Quaternion.hh>
#include <gz/common/graphics/Export.hh>
 
namespace ignition
{
  namespace common
  {
    class IGNITION_COMMON_GRAPHICS_VISIBLE KeyFrame
    {
      public: explicit KeyFrame(const double _time);
 
      public: virtual ~KeyFrame();
 
      public: double Time() const;
 
      protected: double time;
    };
 
    class IGNITION_COMMON_GRAPHICS_VISIBLE PoseKeyFrame : public KeyFrame
    {
      public: explicit PoseKeyFrame(const double _time);
 
      public: virtual ~PoseKeyFrame();
 
      public: void Translation(const math::Vector3d &_trans);
 
      public: const math::Vector3d &Translation() const;
 
      public: void Rotation(const math::Quaterniond &_rot);
 
      public: const math::Quaterniond &Rotation() const;
 
#ifdef _WIN32
// Disable warning C4251 which is triggered by
// std::unique_ptr
#pragma warning(push)
#pragma warning(disable: 4251)
#endif
      protected: math::Vector3d translate;
 
      protected: math::Quaterniond rotate;
#ifdef _WIN32
#pragma warning(pop)
#endif
    };
 
    class IGNITION_COMMON_GRAPHICS_VISIBLE NumericKeyFrame : public KeyFrame
    {
      public: explicit NumericKeyFrame(const double _time);
 
      public: virtual ~NumericKeyFrame();
 
      public: void Value(const double &_value);
 
      public: const double &Value() const;
 
      protected: double value;
    };
  }
}
#endif