Gazebo Math

API Reference

7.5.1
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 
24 namespace gz::math
25 {
26  // Inline bracket to help doxygen filtering.
27  inline namespace GZ_MATH_VERSION_NAMESPACE {
30  class GZ_MATH_VISIBLE RotationSpline
31  {
33  public: RotationSpline();
34 
37  public: void AddPoint(const Quaterniond &_p);
38 
46  public: const Quaterniond &Point(const unsigned int _index) const;
47 
50  public: unsigned int PointCount() const;
51 
53  public: void Clear();
54 
61  public: bool UpdatePoint(const unsigned int _index,
62  const Quaterniond &_value);
63 
74  public: Quaterniond Interpolate(double _t,
75  const bool _useShortestPath = true);
76 
86  public: Quaterniond Interpolate(const unsigned int _fromIndex,
87  const double _t, const bool _useShortestPath = true);
88 
103  public: void AutoCalculate(bool _autoCalc);
104 
109  public: void RecalcTangents();
110 
112  GZ_UTILS_IMPL_PTR(dataPtr)
113  };
114  } // namespace GZ_MATH_VERSION_NAMESPACE
115 } // namespace gz::math
116 #endif // GZ_MATH_ROTATIONSPLINE_HH_