bspline.hpp

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// Copyright (C) 2021-2022 Petter Nilsson. MIT License.
 
#pragma once
 
#include <ranges>
 
#include "common.hpp"
#include "cumulative_spline.hpp"
 
SMOOTH_BEGIN_NAMESPACE
 
template<int K, LieGroup G>
class BSpline
{
public:
  static_assert(Dof<G> > 0, "Dof<G> must be known at compile time.");
 
  BSpline();
 
  BSpline(double t0, double dt, std::vector<G> && ctrl_pts);
 
  template<std::ranges::range Rv>
    requires(std::is_same_v<std::ranges::range_value_t<Rv>, G>)
  BSpline(double t0, double dt, const Rv & ctrl_pts);
 
  BSpline(const BSpline &) = default;
  BSpline(BSpline &&) = default;
  BSpline & operator=(const BSpline &) = default;
  BSpline & operator=(BSpline &&) = default;
  ~BSpline() = default;
 
  [[nodiscard]] double dt() const;
 
  [[nodiscard]] double t_min() const;
 
  [[nodiscard]] double t_max() const;
 
  const std::vector<G> & ctrl_pts() const;
 
  template<typename S = double>
  CastT<S, G> operator()(const S & t, OptTangent<CastT<S, G>> vel = {}, OptTangent<CastT<S, G>> acc = {}) const;
 
private:
  double m_t0, m_dt;
  std::vector<G> m_ctrl_pts;
};
 
SMOOTH_END_NAMESPACE
#include "detail/bspline_impl.hpp"