RotationSpline.hh

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/*
 * Copyright (C) 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 IGNITION_MATH_ROTATIONSPLINE_HH_
#define IGNITION_MATH_ROTATIONSPLINE_HH_

#include <ignition/math/Quaternion.hh>
#include <ignition/math/config.hh>

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    // Forward declare private data
    class RotationSplinePrivate;

    class IGNITION_MATH_VISIBLE  RotationSpline
    {
      public: RotationSpline();

      public: ~RotationSpline();

      public: void AddPoint(const Quaterniond &_p);

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

      public: unsigned int PointCount() const;

      public: void Clear();

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

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

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

      public: void AutoCalculate(bool _autoCalc);

      public: void RecalcTangents();

      private: RotationSplinePrivate *dataPtr;
    };
    }
  }
}

#endif