97 lines
2.2 KiB
C++
97 lines
2.2 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.
|
|
*
|
|
*/
|
|
#include "KeyFrame.hh"
|
|
|
|
using namespace gazebo;
|
|
using namespace common;
|
|
|
|
/////////////////////////////////////////////////
|
|
KeyFrame::KeyFrame(double _time)
|
|
: time(_time)
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
KeyFrame::~KeyFrame()
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
double KeyFrame::GetTime() const
|
|
{
|
|
return this->time;
|
|
}
|
|
|
|
|
|
/////////////////////////////////////////////////
|
|
PoseKeyFrame::PoseKeyFrame(double _time)
|
|
: KeyFrame(_time)
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
PoseKeyFrame::~PoseKeyFrame()
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void PoseKeyFrame::Translation(const ignition::math::Vector3d &_trans)
|
|
{
|
|
this->translate = _trans;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
ignition::math::Vector3d PoseKeyFrame::Translation() const
|
|
{
|
|
return this->translate;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void PoseKeyFrame::Rotation(const ignition::math::Quaterniond &_rot)
|
|
{
|
|
this->rotate = _rot;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
ignition::math::Quaterniond PoseKeyFrame::Rotation() const
|
|
{
|
|
return this->rotate;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
NumericKeyFrame::NumericKeyFrame(double _time)
|
|
: KeyFrame(_time)
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
NumericKeyFrame::~NumericKeyFrame()
|
|
{
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
void NumericKeyFrame::SetValue(const double &_value)
|
|
{
|
|
this->value = _value;
|
|
}
|
|
|
|
/////////////////////////////////////////////////
|
|
const double &NumericKeyFrame::GetValue() const
|
|
{
|
|
return this->value;
|
|
}
|