KeyframePlayer.h

#ifndef KEYFRAMEPLAYER_H_
#define KEYFRAMEPLAYER_H_
#include "keyframe_player/Keyframe.h"
#include <QList>

namespace kf_player
{

class KeyframePlayer
{
public:

    double V;
    double A;
    double VX;

    QList<Keyframe> keyframes;
    QList<Keyframe> commands;
    Keyframe currentState;

public:
    KeyframePlayer();
    virtual ~KeyframePlayer() {};

    void setA(double A);
    void setV(double V);
    void setVX(double VX);

    void reset();
    void clear();
    
    bool addKeyframe(Keyframe kf);
    bool addKeyframe(double t, double x, double v, double effort, double suppLeftLeg, double suppRightLeg,double pGain, double iGain, double dGain, double limit, gainSelectEnum gainSelect, double roll, double pitch, double yaw) { return addKeyframe(Keyframe(t, x, v, effort, suppLeftLeg, suppRightLeg, pGain,iGain,dGain,limit,gainSelect, roll, pitch,yaw)); }

    void calculateCommands();

    bool atEnd();
    Keyframe step(double t);
    Keyframe getCurrentState();
    Keyframe evaluateAt(double t);
    double totalTime();
    double currentTime();
    double minimumTime();

private:
    void transformState(double a, double t, Keyframe& kf);
};

}

#endif // KEYFRAMEPLAYER_H_