137 lines
5.0 KiB
C++
137 lines
5.0 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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// Note: Originally cribbed from Ogre3d. Modified to implement Cardinal
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// spline and catmull-rom spline
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#ifndef _SPLINE_HH_
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#define _SPLINE_HH_
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#include <vector>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/math/Matrix4.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace math
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{
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/// \addtogroup gazebo_math
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/// \{
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/// \class Spline Spline.hh math/gzmath.hh
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/// \brief Splines
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class GZ_MATH_VISIBLE Spline
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{
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/// \brief constructor
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public: Spline();
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/// \brief destructor
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public: ~Spline();
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/// \brief Set the tension parameter. A value of 0 = Catmull-Rom
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/// spline.
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/// \param[in] _t Tension value between 0.0 and 1.0
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public: void SetTension(double _t);
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/// \brief Get the tension value
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/// \return The value of the tension, which is between 0.0 and 1.0
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public: double GetTension() const;
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/// \brief Adds a control point to the end of the spline.
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/// \param[in] _pt point to add
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public: void AddPoint(const Vector3 &_pt);
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/// \brief Gets the detail of one of the control points of the spline.
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/// \param[in] _index the control point index
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/// \return the control point, or [0,0,0] and a message on the error
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/// stream
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public: Vector3 GetPoint(unsigned int _index) const;
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/// \brief Gets the number of control points in the spline.
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/// \return the count
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public: unsigned int GetPointCount() const;
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/// \brief Get the tangent value for a point
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/// \param[in] _index the control point index
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public: Vector3 GetTangent(unsigned int _index) const;
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/// \brief Clears all the points in the spline.
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public: void Clear();
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/// \brief Updates a single point in the spline.
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/// \remarks an error to the error stream is printed when the index is
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/// out of bounds
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/// \param[in] _index the control point index
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/// \param[in] _value the new position
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public: void UpdatePoint(unsigned int _index, const Vector3 &_value);
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/// \brief Returns an interpolated point based on a parametric value
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/// over the whole series.
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/// \param[in] _t parameter (range 0 to 1)
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public: Vector3 Interpolate(double _t) const;
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/// \brief Interpolates a single segment of the spline given a
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/// parametric value.
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/// \param[in] _fromIndex The point index to treat as t = 0.
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/// fromIndex + 1 is deemed to be t = 1
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/// \param[in] _t Parametric value
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public: Vector3 Interpolate(unsigned int _fromIndex, double _t) const;
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/// \brief Tells the spline whether it should automatically
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/// calculate tangents on demand as points are added.
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/// \remarks The spline calculates tangents at each point
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/// automatically based on the input points. Normally it
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/// does this every time a point changes. However, if you
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/// have a lot of points to add in one go, you probably
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/// don't want to incur this overhead and would prefer to
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/// defer the calculation until you are finished setting all
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/// the points. You can do this by calling this method with a
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/// parameter of 'false'. Just remember to manually call the
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/// recalcTangents method when you are done.
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/// \param[in] _autoCalc If true, tangents are calculated for you whenever
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/// a point changes. If false, you must call reclacTangents to
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/// recalculate them when it best suits.
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public: void SetAutoCalculate(bool _autoCalc);
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/// \brief Recalculates the tangents associated with this spline.
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/// \remarks If you tell the spline not to update on demand by
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/// calling setAutoCalculate(false) then you must call this
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/// after completing your updates to the spline points.
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public: void RecalcTangents();
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/// \brief when true, the tangents are recalculated when the control
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/// point change
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protected: bool autoCalc;
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/// \brief control points
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protected: std::vector<Vector3> points;
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/// \brief tangents
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protected: std::vector<Vector3> tangents;
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/// Matrix of coefficients
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protected: Matrix4 coeffs;
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/// Tension of 0 = Catmull-Rom spline, otherwise a Cardinal spline
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protected: double tension;
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};
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/// \}
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}
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}
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#endif
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