BezierCurve< T, DIM, NUM_CTR_PT > Class Template Reference

#include <BezierCurve.h>

Collaboration diagram for BezierCurve< T, DIM, NUM_CTR_PT >:

Public Member Functions
	BezierCurve ()
bool	SetParam (T **ctrl_pt, T fin_time)
bool	getCurvePoint (T u, T *ret)
bool	getCurveVelocity (T u, T *ret)

Public Attributes
T	_CtrlPt [NUM_CTR_PT][DIM]
T	_coeff [NUM_CTR_PT]
T	_end_time

Private Member Functions
int	_factorial (const int &n)

Detailed Description

template<typename T, int DIM, int NUM_CTR_PT>
class BezierCurve< T, DIM, NUM_CTR_PT >

Definition at line 8 of file BezierCurve.h.

Constructor & Destructor Documentation

template<typename T, int DIM, int NUM_CTR_PT>

BezierCurve< T, DIM, NUM_CTR_PT >::BezierCurve ( )

inline

Definition at line 13 of file BezierCurve.h.

                {
    for (int j(0); j < NUM_CTR_PT; ++j) {
      for (int i(0); i < DIM; ++i) {
        _CtrlPt[j][i] = 0.;
      }
      _coeff[j] = 0.;
    }
  }

Member Function Documentation

template<typename T, int DIM, int NUM_CTR_PT>

int BezierCurve< T, DIM, NUM_CTR_PT >::_factorial ( const int &  n )

inlineprivate

Definition at line 95 of file BezierCurve.h.

                               {
    int ret = 1;
    for (int i(1); i < n + 1; ++i) ret *= (i);

    return ret;
  }

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template<typename T, int DIM, int NUM_CTR_PT>

bool BezierCurve< T, DIM, NUM_CTR_PT >::getCurvePoint ( T  u, T *  ret  )

inline

Definition at line 36 of file BezierCurve.h.

References BezierCurve< T, DIM, NUM_CTR_PT >::_end_time.

                                  {
    if (u > _end_time) {
      for (int i(0); i < DIM; ++i) {
        ret[i] = _CtrlPt[NUM_CTR_PT - 1][i];
      }
      return true;
    } else if (u < 0.) {
      for (int i(0); i < DIM; ++i) {
        ret[i] = _CtrlPt[0][i];
      }
      return true;
    } else {
      u /= _end_time;
      for (int i(0); i < DIM; ++i) {
        ret[i] = 0.;
        for (int j(0); j < NUM_CTR_PT; ++j) {
          ret[i] += _coeff[j] * pow(u, j) * pow(1 - u, (NUM_CTR_PT - 1) - j) *
                    _CtrlPt[j][i];
        }
      }
    }
    return true;
  }

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template<typename T, int DIM, int NUM_CTR_PT>

bool BezierCurve< T, DIM, NUM_CTR_PT >::getCurveVelocity ( T  u, T *  ret  )

inline

Definition at line 60 of file BezierCurve.h.

References BezierCurve< T, DIM, NUM_CTR_PT >::_end_time.

                                     {
    if (u > _end_time) {
      for (int i(0); i < DIM; ++i) {
        ret[i] = 0.;
      }
      return true;
    } else if (u < 0.) {
      for (int i(0); i < DIM; ++i) {
        ret[i] = 0.;
      }
      return true;
    } else {
      u /= _end_time;
      for (int i(0); i < DIM; ++i) {
        ret[i] = 0.;
        ret[i] += _coeff[0] *
                  (-(NUM_CTR_PT - 1) * pow(1 - u, (NUM_CTR_PT - 1) - 1)) *
                  _CtrlPt[0][i];
        for (int j(1); j < NUM_CTR_PT - 1; ++j) {
          ret[i] += _coeff[j] *
                    (j * pow(u, j - 1) * pow(1 - u, (NUM_CTR_PT - 1) - j) -
                     (NUM_CTR_PT - 1 - j) * pow(u, j) *
                         pow(1 - u, (NUM_CTR_PT - 1) - j - 1)) *
                    _CtrlPt[j][i];
        }
        ret[i] += _coeff[NUM_CTR_PT - 1] * (NUM_CTR_PT - 1) *
                  pow(u, NUM_CTR_PT - 2) * _CtrlPt[NUM_CTR_PT - 1][i];

        ret[i] /= _end_time;
      }
    }
    return true;
  }

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template<typename T, int DIM, int NUM_CTR_PT>

bool BezierCurve< T, DIM, NUM_CTR_PT >::SetParam ( T **  ctrl_pt, T  fin_time  )

inline

Definition at line 24 of file BezierCurve.h.

References BezierCurve< T, DIM, NUM_CTR_PT >::_factorial().

                                         {
    _end_time = fin_time;
    T n_fact = _factorial(NUM_CTR_PT - 1);
    for (int j(0); j < NUM_CTR_PT; ++j) {
      for (int i(0); i < DIM; ++i) {
        _CtrlPt[j][i] = ctrl_pt[j][i];
      }
      _coeff[j] = n_fact / (_factorial(j) * _factorial((NUM_CTR_PT - 1) - j));
    }
    return true;
  }

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Member Data Documentation

template<typename T, int DIM, int NUM_CTR_PT>

T BezierCurve< T, DIM, NUM_CTR_PT >::_coeff[NUM_CTR_PT]

Definition at line 11 of file BezierCurve.h.

template<typename T, int DIM, int NUM_CTR_PT>

T BezierCurve< T, DIM, NUM_CTR_PT >::_CtrlPt[NUM_CTR_PT][DIM]

Definition at line 10 of file BezierCurve.h.

template<typename T, int DIM, int NUM_CTR_PT>

T BezierCurve< T, DIM, NUM_CTR_PT >::_end_time

Definition at line 12 of file BezierCurve.h.

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The documentation for this class was generated from the following file:

• BezierCurve.h