123 lines
5.0 KiB
C++
123 lines
5.0 KiB
C++
/*
|
|
* 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 _ROTATIONSPLINE_HH_
|
|
#define _ROTATIONSPLINE_HH_
|
|
|
|
#include <vector>
|
|
#include "gazebo/math/Quaternion.hh"
|
|
#include "gazebo/util/system.hh"
|
|
|
|
namespace gazebo
|
|
{
|
|
namespace math
|
|
{
|
|
/// \addtogroup gazebo_math
|
|
/// \{
|
|
|
|
/// \class RotationSpline RotationSpline.hh math/gzmath.hh
|
|
/// \brief Spline for rotations
|
|
class GZ_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 Quaternion &_p);
|
|
|
|
/// \brief Gets the detail of one of the control points of the spline.
|
|
/// \param[in] _index the index of the control point.
|
|
/// \remarks This point must already exist in the spline.
|
|
/// \return a quaternion (out of bound index result in assertion)
|
|
public: const Quaternion &GetPoint(unsigned int _index) const;
|
|
|
|
/// \brief Gets the number of control points in the spline.
|
|
/// \return the count
|
|
public: unsigned int GetNumPoints() 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
|
|
public: void UpdatePoint(unsigned int _index, const Quaternion &_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
|
|
public: Quaternion Interpolate(double _t, 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
|
|
public: Quaternion Interpolate(unsigned int _fromIndex, double _t,
|
|
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 SetAutoCalculate(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 Automatic recalcultation of tangeants when control points are
|
|
/// updated
|
|
protected: bool autoCalc;
|
|
|
|
/// \brief the control points
|
|
protected: std::vector<Quaternion> points;
|
|
|
|
/// \brief the tangents
|
|
protected: std::vector<Quaternion> tangents;
|
|
};
|
|
/// \}
|
|
}
|
|
}
|
|
|
|
#endif
|