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include
ignition
math
RotationSpline.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2012-2014 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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#ifndef _IGNITION_ROTATIONSPLINE_HH_
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#define _IGNITION_ROTATIONSPLINE_HH_
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#include <
ignition/math/IndexException.hh
>
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#include <
ignition/math/Quaternion.hh
>
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namespace
ignition
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{
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namespace
math
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{
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// Forward declare private data
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class
RotationSplinePrivate;
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class
IGNITION_VISIBLE
RotationSpline
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{
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public
:
RotationSpline
();
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public
: ~
RotationSpline
();
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public
:
void
AddPoint(
const
Quaterniond
&_p);
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public
:
const
Quaterniond
&Point(
unsigned
int
_index)
const
;
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public
:
unsigned
int
PointCount()
const
;
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public
:
void
Clear();
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public
:
void
UpdatePoint(
unsigned
int
_index,
const
Quaterniond
&_value);
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public
:
Quaterniond
Interpolate(
double
_t,
bool
_useShortestPath =
true
);
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public
:
Quaterniond
Interpolate(
unsigned
int
_fromIndex,
double
_t,
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bool
_useShortestPath =
true
);
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public
:
void
AutoCalculate(
bool
_autoCalc);
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public
:
void
RecalcTangents();
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private
:
RotationSplinePrivate
*dataPtr;
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};
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}
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}
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#endif
ignition::math::RotationSplinePrivate
Definition:
RotationSplinePrivate.hh:29
IGNITION_VISIBLE
#define IGNITION_VISIBLE
Use to represent "symbol visible" if supported.
Definition:
Helpers.hh:454
ignition::math::RotationSpline
Spline for rotations.
Definition:
RotationSpline.hh:32
IndexException.hh
Quaternion.hh
ignition
Definition:
AffineException.hh:30
ignition::math::Quaternion< double >