1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
|
/*
* Copyright (C) 2012-2014 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.
*
*/
// Note: Originally cribbed from Ogre3d. Modified to implement Cardinal
// spline and catmull-rom spline
#ifndef IGNITION_MATH_SPLINE_HH_
#define IGNITION_MATH_SPLINE_HH_
#include <ignition/math/Helpers.hh>
#include <ignition/math/IndexException.hh>
#include <ignition/math/Vector3.hh>
namespace ignition
{
namespace math
{
// Forward declare private data class
class SplinePrivate;
/// \class Spline Spline.hh ignition/math/Spline.hh
/// \brief Splines
class IGNITION_VISIBLE Spline
{
/// \brief constructor
public: Spline();
/// \brief destructor
public: ~Spline();
/// \brief Set the tension parameter. A value of 0 = Catmull-Rom
/// spline.
/// \param[in] _t Tension value between 0.0 and 1.0
public: void Tension(double _t);
/// \brief Get the tension value
/// \return The value of the tension, which is between 0.0 and 1.0
public: double Tension() const;
/// \brief Adds a control point to the end of the spline.
/// \param[in] _pt point to add
public: void AddPoint(const Vector3d &_pt);
/// \brief Gets the detail of one of the control points of the spline.
/// \param[in] _index the control point index
/// \return the control point, or [0,0,0] and a message on the error
/// stream
/// \throws IndexException if _index >= PointCount()
public: Vector3d Point(unsigned int _index) const;
/// \brief Gets the number of control points in the spline.
/// \return the count
public: size_t PointCount() const;
/// \brief Get the tangent value for a point
/// \param[in] _index the control point index
/// \throws IndexException if _index >= PointCount()
public: Vector3d Tangent(unsigned int _index) const;
/// \brief Clears all the points in the spline.
public: void Clear();
/// \brief Updates a single point in the spline.
/// \remarks an error to the error stream is printed when the index is
/// out of bounds
/// \param[in] _index the control point index
/// \param[in] _value the new position
/// \throws IndexException if _index >= PointCount()
public: void UpdatePoint(unsigned int _index, const Vector3d &_value);
/// \brief Returns an interpolated point based on a parametric value
/// over the whole series.
/// \param[in] _t parameter (range 0 to 1)
public: Vector3d Interpolate(double _t) const;
/// \brief Interpolates a single segment of the spline given a
/// parametric value.
/// \param[in] _fromIndex The point index to treat as t = 0.
/// fromIndex + 1 is deemed to be t = 1
/// \param[in] _t Parametric value
/// \throws IndexException if _fromIndex >= PointCount()
public: Vector3d Interpolate(unsigned int _fromIndex, double _t) const;
/// \brief Tells the spline whether it should automatically
/// calculate tangents on demand as points are added.
/// \remarks The spline calculates tangents at each point
/// automatically based on the input points. Normally it
/// does this every time a point changes. However, if you
/// have a lot of points to add in one go, you probably
/// don't want to incur this overhead and would prefer to
/// defer the calculation until you are finished setting all
/// the points. You can do this by calling this method with a
/// parameter of 'false'. Just remember to manually call the
/// recalcTangents method when you are done.
/// \param[in] _autoCalc If true, tangents are calculated for you whenever
/// a point changes. If false, you must call reclacTangents to
/// recalculate them when it best suits.
public: void AutoCalculate(bool _autoCalc);
/// \brief Recalculates the tangents associated with this spline.
/// \remarks If you tell the spline not to update on demand by
/// calling setAutoCalculate(false) then you must call this
/// after completing your updates to the spline points.
public: void RecalcTangents();
/// \internal
/// \brief Private data pointer
private: SplinePrivate *dataPtr;
};
}
}
#endif
|
