Keyframe.h

#ifndef KEYFRAME_H_
#define KEYFRAME_H_
#include "keyframe_player/Vec2f.h"

namespace kf_player
{

enum gainSelectEnum
{
    nonE=0,
    rollE=1,
    pitchE=2,
    yawE=3
};

class Keyframe
{
public:
    Keyframe() : type(TYPE_DEFAULT), t(0.0), x(0.0), v(0.0), a(0.0), effort(0.0), suppLeftLeg(0.0), suppRightLeg(0.0), pGain(0.0), iGain(0.0), dGain(0.0), gainSelect(nonE), roll(0.0), pitch(0.0), yaw(0.0),playingIndex(0)  {}
    Keyframe(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) : type(TYPE_DEFAULT), t(t), x(x), v(v), a(0.0), effort(effort), suppLeftLeg(suppLeftLeg), suppRightLeg(suppRightLeg), pGain(pGain), iGain(iGain), dGain(dGain), limit(limit), gainSelect(gainSelect), roll(roll), pitch(pitch), yaw(yaw),playingIndex(0)  {}
    virtual ~Keyframe() {};

    int type;
    double t;
    double x;
    double v;
    double a;
    double effort;
    double suppLeftLeg;
    double suppRightLeg;
    double pGain; double iGain; double dGain; double limit; gainSelectEnum gainSelect; double roll; double pitch;double yaw;
    int playingIndex;

    enum types
    {
        TYPE_DEFAULT,
        TYPE_AMAX,
        TYPE_VMAX,
        TYPE_UNREACHABLE
    };

    void set(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);
    Vec2f location();
    void setLocation(Vec2f);
    void relocateBy(Vec2f);

    inline bool operator<(const Keyframe& k) const {return (t < k.t);}
    inline bool operator<=(const Keyframe& k) const {return (t <= k.t);}
    inline bool operator>(const Keyframe& k) const {return (t > k.t);}
    inline bool operator>=(const Keyframe& v) const {return (t >= v.t);}
    inline bool operator==(const Keyframe& k) const {return (t == k.t && x == k.x && v == k.v);}
    inline bool operator!=(const Keyframe& k) const {return (t != k.t || x != k.x || v != k.v);}
};

QDebug operator<<(QDebug dbg, const Keyframe &k);

}
#endif /* KEYFRAME_H_ */