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17 #ifndef IGNITION_MATH_ROTATIONSPLINE_HH_
18 #define IGNITION_MATH_ROTATIONSPLINE_HH_
21 #include <ignition/math/config.hh>
27 inline namespace IGNITION_MATH_VERSION_NAMESPACE
30 class RotationSplinePrivate;
82 const bool _useShortestPath =
true);
94 const double _t,
const bool _useShortestPath =
true);
119 private: RotationSplinePrivate *dataPtr;
void AutoCalculate(bool _autoCalc)
Tells the spline whether it should automatically calculate tangents on demand as points are added.
void Clear()
Clears all the points in the spline.
A quaternion class.
Definition: Matrix3.hh:33
const Quaterniond & Point(const unsigned int _index) const
Gets the detail of one of the control points of the spline.
Quaterniond Interpolate(const unsigned int _fromIndex, const double _t, const bool _useShortestPath=true)
Interpolates a single segment of the spline given a parametric value.
Quaterniond Interpolate(double _t, const bool _useShortestPath=true)
Returns an interpolated point based on a parametric value over the whole series.
Spline for rotations.
Definition: RotationSpline.hh:35
RotationSpline()
Constructor. Sets the autoCalc to true.
void AddPoint(const Quaterniond &_p)
Adds a control point to the end of the spline.
unsigned int PointCount() const
Gets the number of control points in the spline.
void RecalcTangents()
Recalculates the tangents associated with this spline.
bool UpdatePoint(const unsigned int _index, const Quaterniond &_value)
Updates a single point in the spline.
~RotationSpline()
Destructor. Nothing is done.