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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 namespace IGNITION_MATH_VERSION_NAMESPACE
{
// Forward declare private data
class RotationSplinePrivate;
/// \class RotationSpline RotationSpline.hh ignition/math/RotationSpline.hh
/// \brief Spline for rotations
class IGNITION_MATH_VISIBLE RotationSpline
{
/// \brief Constructor. Sets the autoCalc to true
public: RotationSpline();
/// \brief Destructor. Nothing is done
public: ~RotationSpline();
/// \brief Adds a control point to the end of the spline.
/// \param[in] _p control point
public: void AddPoint(const Quaterniond &_p);
/// \brief Gets the detail of one of the control points of the spline.
/// \param[in] _index the index of the control point. _index is
/// clamped to [0, PointCount()-1].
/// \remarks This point must already exist in the spline.
/// \return The quaternion at the specified point.
/// If there are no points, then a Quaterniond with a value of
/// [INF, INF, INF, INF] is returned.
public: const Quaterniond &Point(const unsigned int _index) const;
/// \brief Gets the number of control points in the spline.
/// \return the count
public: unsigned int PointCount() const;
/// \brief Clears all the points in the spline.
public: void Clear();
/// \brief Updates a single point in the spline.
/// \remarks This point must already exist in the spline.
/// \param[in] _index index
/// \param[in] _value the new control point value
/// \return True on success, false if _index is larger or equal than
/// PointCount().
public: bool UpdatePoint(const unsigned int _index,
const Quaterniond &_value);
/// \brief Returns an interpolated point based on a parametric
/// value over the whole series.
/// \remarks Given a t value between 0 and 1 representing the
/// parametric distance along the whole length of the spline,
/// this method returns an interpolated point.
/// \param[in] _t Parametric value.
/// \param[in] _useShortestPath Defines if rotation should take the
/// shortest possible path
/// \return The rotation, or [INF, INF, INF, INF] on error. Use
/// Quateriond::IsFinite() to check for an error
public: Quaterniond Interpolate(double _t,
const bool _useShortestPath = true);
/// \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
/// \param[in] _useShortestPath Defines if rotation should take the
/// shortest possible path
/// \return the rotation, or [INF, INF, INF, INF] on error. Use
/// Quateriond::IsFinite() to check for an error
public: Quaterniond Interpolate(const unsigned int _fromIndex,
const double _t, const bool _useShortestPath = true);
/// \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();
/// \brief Private data pointer
private: RotationSplinePrivate *dataPtr;
};
}
}
}
#endif
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