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;
A quaternion class.
Definition Quaternion.hh:38
Spline for rotations.
Definition RotationSpline.hh:35
void AutoCalculate(bool _autoCalc)
Tells the spline whether it should automatically calculate tangents on demand as points are added.
void RecalcTangents()
Recalculates the tangents associated with this spline.
const Quaterniond & Point(const unsigned int _index) const
Gets the detail of one of the control points of the spline.
~RotationSpline()
Destructor. Nothing is done.
void AddPoint(const Quaterniond &_p)
Adds a control point to the end 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.
void Clear()
Clears all the points in the spline.
unsigned int PointCount() const
Gets the number of control points in the spline.
Quaterniond Interpolate(double _t, const bool _useShortestPath=true)
Returns an interpolated point based on a parametric value over the whole series.
RotationSpline()
Constructor. Sets the autoCalc to true.
bool UpdatePoint(const unsigned int _index, const Quaterniond &_value)
Updates a single point in the spline.