reparameterize.hpp

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// Copyright (C) 2021-2022 Petter Nilsson. MIT License.
 
#pragma once
 
#include "spline.hpp"
 
SMOOTH_BEGIN_NAMESPACE
 
// clang-format off
template<typename S>
concept SplineLike =
LieGroup<std::invoke_result_t<S, double> >
&& requires(S s, double t, Tangent<std::invoke_result_t<S, double>> & vel, Tangent<std::invoke_result_t<S, double>> & acc)
{
  {s.t_min()} -> std::convertible_to<double>;
  {s.t_max()} -> std::convertible_to<double>;
  {s(t, vel, acc)};
};
// clang-format on
 
Spline<2, double> reparameterize_spline(
  const SplineLike auto & spline,
  const auto & vel_min,
  const auto & vel_max,
  const auto & acc_min,
  const auto & acc_max,
  const double start_vel = 1,
  const double end_vel   = std::numeric_limits<double>::infinity(),
  const std::size_t N    = 100);
 
SMOOTH_END_NAMESPACE
#include "detail/reparameterize_impl.hpp"