cumulative_spline.hpp

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// Copyright (C) 2021-2022 Petter Nilsson. MIT License.
 
#pragma once
 
#include <cassert>
#include <optional>
 
#include "../detail/traits.hpp"
#include "../lie_groups.hpp"
#include "../polynomial/basis.hpp"
#include "common.hpp"
 
SMOOTH_BEGIN_NAMESPACE
 
template<int K, LieGroup G>
  requires(K > 0)
inline G cspline_eval_vs(
  std::ranges::sized_range auto && vs,
  const MatrixType auto & Bcum,
  Scalar<G> u,
  OptTangent<G> vel = {},
  OptTangent<G> acc = {},
  OptTangent<G> jer = {}) noexcept;
 
template<int K, LieGroup G>
  requires(K > 0)
SplineJacobian<G, K - 1> cspline_eval_dg_dvs(
  std::ranges::sized_range auto && vs,
  const MatrixType auto & Bcum,
  const Scalar<G> & u,
  OptSplineJacobian<G, K - 1> dvel_dvs = {},
  OptSplineJacobian<G, K - 1> dacc_dvs = {}) noexcept;
 
template<int K, std::ranges::sized_range R, LieGroup G = std::ranges::range_value_t<R>>
  requires(K > 0)
inline G cspline_eval_gs(
  R && gs,
  const MatrixType auto & Bcum,
  Scalar<G> u,
  OptTangent<G> vel = {},
  OptTangent<G> acc = {},
  OptTangent<G> jer = {}) noexcept;
 
template<int K, std::ranges::sized_range R, LieGroup G = std::ranges::range_value_t<R>>
  requires(K > 0)
SplineJacobian<G, K> cspline_eval_dg_dgs(
  R && gs,
  const MatrixType auto & Bcum,
  const Scalar<G> & u,
  OptSplineJacobian<G, K> dvel_dgs = {},
  OptSplineJacobian<G, K> dacc_dgs = {}) noexcept;
 
SMOOTH_END_NAMESPACE
#include "detail/cumulative_spline_impl.hpp"