RotationSpline.hh

/*
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This source file is part of OGRE
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all copies or substantial portions of the Software.

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*/
#ifndef ROTATIONALSPLINE_HH
#define ROTATIONALSPLINE_HH

#include <vector>
#include "math/Quaternion.hh"

namespace gazebo 
{
  namespace math
  {
    class  RotationSpline
    {
      public: RotationSpline();
      public: ~RotationSpline();

      public: void AddPoint(const Quaternion &_p);

      public: const Quaternion &GetPoint(unsigned short _index) const;

      public: unsigned int GetNumPoints() const;

      public: void Clear();

      public: void UpdatePoint(unsigned short _index, const Quaternion &_value);

      public: Quaternion Interpolate(double _t, bool _useShortestPath=true);

      public: Quaternion Interpolate(unsigned int _fromIndex, double _t, 
                                     bool _useShortestPath=true);

      public: void SetAutoCalculate(bool _autoCalc);

      public: void RecalcTangents();

      protected: bool autoCalc;

      protected: std::vector<Quaternion> points;
      protected: std::vector<Quaternion> tangents;
    };
  }
}

#endif