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/** |
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* \file AbstractCurve.hpp |
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* \brief interface for a Curve of arbitrary dimension. |
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* \author Steve T. |
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* \version 0.1 |
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* \date 06/17/2013 |
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* |
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* Interface for a curve |
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*/ |
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#include <cstddef> |
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#include <iostream> |
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#ifndef _parameteric_curves_abstract_curve_hpp |
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#define _parameteric_curves_abstract_curve_hpp |
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namespace parametriccurves { |
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/// \struct AbstractCurve |
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/// \brief Represents a curve of dimension Dim |
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/// is Safe is false, no verification is made on the evaluation of the curve. |
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template <typename Numeric, typename Point> |
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struct AbstractCurve { |
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typedef Point point_t; |
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typedef Numeric time_t; |
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typedef Numeric num_t; |
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public: |
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/* Constructors - destructors */ |
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AbstractCurve(time_t t_min_, time_t t_max_) : t_min(t_min_), t_max(t_max_) {} |
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AbstractCurve() {} |
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virtual ~AbstractCurve() {} |
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public: |
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/// \brief Evaluation of the cubic spline at time t. |
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/// \param t : the time when to evaluate the spine |
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/// \param return : the value x(t) |
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virtual const point_t operator()(const time_t& t) const = 0; |
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/// \brief Evaluation of the derivative spline at time t. |
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/// \param t : the time when to evaluate the spline |
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/// \param order : order of the derivative |
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/// \param return : the value x(t) |
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virtual const point_t derivate(const time_t& t, |
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const std::size_t& order) const = 0; |
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public: |
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/*Getters*/ |
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virtual const time_t tmin() const { return t_min; } |
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virtual const time_t tmax() const { return t_max; } |
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virtual bool checkRange(const time_t t) const { |
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return (t >= t_min) && (t <= t_max); |
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} |
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/* Setters */ |
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virtual bool setInitialPoint(const point_t& /*x_init*/) = 0; |
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virtual bool setInitialPoint(const num_t& /*x_init*/) = 0; |
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virtual bool setTimePeriod(const time_t& traj_time_) { |
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t_min = 0.0; |
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t_max = traj_time_; |
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return true; |
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} |
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protected: |
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time_t t_min; |
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time_t t_max; |
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}; |
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} // namespace parametriccurves |
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#endif //_STRUCT_CURVE_ABC |
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