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 GZ_MATH_SPLINE_HH_
#define GZ_MATH_SPLINE_HH_
 
#include <gz/math/Helpers.hh>
#include <gz/math/Vector3.hh>
#include <gz/math/config.hh>
#include <gz/utils/ImplPtr.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
  //
  // Forward declare private classes
  class ControlPoint;
 
  class GZ_MATH_VISIBLE 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;
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }  // namespace GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_SPLINE_HH_