Spline.hh

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/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
// Note: Originally cribbed from Ogre3d. Modified to implement Cardinal
// spline and catmull-rom spline
#ifndef IGNITION_MATH_SPLINE_HH_
#define IGNITION_MATH_SPLINE_HH_

#include <ignition/math/Helpers.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/math/config.hh>

namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    // Forward declare private classes
    class ControlPoint;
    class SplinePrivate;

    class IGNITION_MATH_VISIBLE Spline
    {
      public: Spline();

      public: ~Spline();

      public: void Tension(double _t);

      public: double Tension() const;

      public: double ArcLength() const;

      public: double ArcLength(const double _t) const;

      public: double ArcLength(const unsigned int _index,
                               const double _t) const;

      public: void AddPoint(const Vector3d &_p);

      public: void AddPoint(const Vector3d &_p, const Vector3d &_t);

      private: void AddPoint(const ControlPoint &_cp, const bool _fixed);

      public: Vector3d Point(const unsigned int _index) const;

      public: Vector3d Tangent(const unsigned int _index) const;

      public: Vector3d MthDerivative(const unsigned int _index,
                                     const unsigned int _mth) const;

      public: size_t PointCount() const;

      public: void Clear();

      public: bool UpdatePoint(const unsigned int _index,
                               const Vector3d &_p);

      public: bool UpdatePoint(const unsigned int _index,
                               const Vector3d &_p,
                               const Vector3d &_t);

      private: bool UpdatePoint(const unsigned int _index,
                                const ControlPoint &_cp,
                                const bool _fixed);

      public: Vector3d Interpolate(const double _t) const;

      public: Vector3d Interpolate(const unsigned int _fromIndex,
                                   const double _t) const;

      public: Vector3d InterpolateTangent(const double _t) const;

      public: Vector3d InterpolateTangent(const unsigned int _fromIndex,
                                          const double _t) const;

      public: Vector3d InterpolateMthDerivative(const unsigned int _mth,
                                                const double _1) const;

      public: Vector3d InterpolateMthDerivative(const unsigned int _fromIndex,
                                                const unsigned int _mth,
                                                const double _s) const;

      public: void AutoCalculate(bool _autoCalc);

      public: void RecalcTangents();

      private: void Rebuild();

      private: bool MapToSegment(const double _t,
                                 unsigned int &_index,
                                 double &_fraction) const;

      private: SplinePrivate *dataPtr;
    };
    }
  }
}
#endif