1 | // |
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2 | // You received this file as part of RRLib |
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3 | // Robotics Research Library |
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4 | // |
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5 | // Copyright (C) Finroc GbR (finroc.org) |
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6 | // |
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7 | // This program is free software; you can redistribute it and/or modify |
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8 | // it under the terms of the GNU General Public License as published by |
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9 | // the Free Software Foundation; either version 2 of the License, or |
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10 | // (at your option) any later version. |
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11 | // |
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12 | // This program is distributed in the hope that it will be useful, |
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13 | // but WITHOUT ANY WARRANTY; without even the implied warranty of |
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14 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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15 | // GNU General Public License for more details. |
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16 | // |
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17 | // You should have received a copy of the GNU General Public License along |
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18 | // with this program; if not, write to the Free Software Foundation, Inc., |
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19 | // 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. |
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20 | // |
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21 | //---------------------------------------------------------------------- |
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22 | /*!\file tBSplineCurve.h |
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23 | * |
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24 | * \author Patrick Fleischmann |
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25 | * |
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26 | * \date 2012-04-18 |
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27 | * |
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28 | * \brief |
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29 | * |
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30 | * \b tBSplineCurve.h |
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31 | * |
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32 | * |
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33 | * |
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34 | */ |
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35 | //---------------------------------------------------------------------- |
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36 | #ifndef __rrlib__geometry__curves__tBSplineCurve_h__ |
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37 | #define __rrlib__geometry__curves__tBSplineCurve_h__ |
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38 | |
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39 | //---------------------------------------------------------------------- |
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40 | // External includes (system with <>, local with "") |
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41 | //---------------------------------------------------------------------- |
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42 | |
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43 | //---------------------------------------------------------------------- |
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44 | // Internal includes with "" |
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45 | //---------------------------------------------------------------------- |
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46 | #include "rrlib/geometry/tPoint.h" |
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47 | #include "rrlib/geometry/curves/tSplineCurve.h" |
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48 | |
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49 | //---------------------------------------------------------------------- |
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50 | // Debugging |
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51 | //---------------------------------------------------------------------- |
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52 | |
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53 | //---------------------------------------------------------------------- |
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54 | // Namespace declaration |
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55 | //---------------------------------------------------------------------- |
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56 | //---------------------------------------------------------------------- |
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57 | // Namespace declaration |
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58 | //---------------------------------------------------------------------- |
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59 | namespace rrlib |
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60 | { |
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61 | namespace geometry |
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62 | { |
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63 | |
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64 | //---------------------------------------------------------------------- |
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65 | // Forward declarations / typedefs / enums |
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66 | //---------------------------------------------------------------------- |
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67 | |
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68 | //---------------------------------------------------------------------- |
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69 | // Class declaration |
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70 | //---------------------------------------------------------------------- |
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71 | template <size_t Tdimension, typename TElement, unsigned int Tdegree = 3> |
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72 | class tBSplineCurve : public tSplineCurve<Tdimension, TElement, Tdegree> |
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73 | { |
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74 | typedef geometry::tSplineCurve<Tdimension, TElement, Tdegree> tSplineCurve; |
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75 | typedef geometry::tShape<Tdimension, TElement> tShape; |
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76 | |
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77 | //---------------------------------------------------------------------- |
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78 | // Public methods and typedefs |
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79 | //---------------------------------------------------------------------- |
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80 | public: |
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81 | |
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82 | tBSplineCurve(); |
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83 | |
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84 | /*! |
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85 | * Construct a uniform B-spline using control points and a knot vector |
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86 | */ |
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87 | template <typename TIterator, typename TKnotIterator> |
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88 | tBSplineCurve(TIterator control_points_begin, TIterator control_points_end, TKnotIterator knots_begin, TKnotIterator knots_end); |
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89 | |
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90 | /*! |
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91 | * Construct a uniform B-spline using control points. The (uniform knot) vector is calculated automatically. |
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92 | */ |
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93 | template <typename TIterator> |
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94 | tBSplineCurve(TIterator begin, TIterator end); |
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95 | |
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96 | virtual const unsigned int NumberOfSegments() const; |
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97 | |
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98 | const std::vector<typename tSplineCurve::tParameter> &Knots() const |
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99 | { |
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100 | return this->knots; |
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101 | } |
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102 | |
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103 | template <typename TIterator> |
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104 | void SetKnots(TIterator begin, TIterator end) |
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105 | { |
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106 | this->knots.assign(begin, end); |
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107 | this->CalculateBezierControlPoints(); |
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108 | } |
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109 | |
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110 | //---------------------------------------------------------------------- |
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111 | // Protected methods |
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112 | //---------------------------------------------------------------------- |
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113 | protected: |
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114 | /*! |
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115 | * Method is called in control point insertion, appending and modification. Causes knot vector and bezier control point recalculation |
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116 | */ |
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117 | virtual void SetChanged(); |
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118 | |
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119 | //---------------------------------------------------------------------- |
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120 | // Private fields and methods |
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121 | //---------------------------------------------------------------------- |
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122 | private: |
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123 | /*! B-spline knot vector (#knots = #control points + degree + 1) */ |
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124 | std::vector<typename tSplineCurve::tParameter> knots; |
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125 | /*! Bezier control points used to evaluate b-spline curve which is converted to a set of bezier curves */ |
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126 | mutable std::vector<typename tShape::tPoint> bezier_control_point_cache; |
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127 | mutable unsigned int number_of_segments; |
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128 | |
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129 | /*! |
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130 | * Calculate a uniform knot vector, this->knots will be modified |
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131 | */ |
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132 | void CalculateKnotVector(); |
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133 | |
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134 | /*! |
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135 | * Calculate all Bezier control points by knot insertion, this->bezier_control_points will be modified |
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136 | */ |
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137 | void CalculateBezierControlPoints() const; |
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138 | |
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139 | /*! |
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140 | * Recalculate control points affected by a knot insertion |
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141 | * @param at Index of the knot to be inserted |
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142 | * @param knots_before_insertion Knot vector before knot insertion |
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143 | * @param knot The new knot that should be inserted |
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144 | * @param control_points Control points before insertion |
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145 | * @return Control points after knot insertion |
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146 | */ |
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147 | static std::vector<typename tShape::tPoint> InsertKnot(int at, const std::vector<typename tSplineCurve::tParameter> &knots_before_insertion, typename tSplineCurve::tParameter knot, const std::vector<typename tShape::tPoint> &control_points); |
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148 | |
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149 | virtual unsigned int GetSegmentForParameter(typename tSplineCurve::tParameter t) const; |
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150 | virtual typename tSplineCurve::tParameter GetLocalParameter(typename tSplineCurve::tParameter t) const; |
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151 | |
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152 | /*! |
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153 | * Create the bezier representation of the B-spline for the given segment id |
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154 | * @param id ID of the segment |
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155 | * @return Bezier curve of the segment |
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156 | */ |
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157 | virtual std::shared_ptr<const typename tSplineCurve::tBezierCurve> CreateBezierCurveForSegment(unsigned int i) const; |
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158 | |
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159 | }; |
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160 | |
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161 | //---------------------------------------------------------------------- |
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162 | // Operators for rrlib_serialization |
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163 | //---------------------------------------------------------------------- |
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164 | #ifdef _LIB_RRLIB_SERIALIZATION_PRESENT_ |
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165 | |
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166 | template <size_t Tdimension, typename TElement, unsigned int Tdegree> |
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167 | serialization::tOutputStream &operator << (serialization::tOutputStream &stream, const tBSplineCurve<Tdimension, TElement, Tdegree> &spline); |
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168 | |
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169 | template <size_t Tdimension, typename TElement, unsigned int Tdegree> |
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170 | serialization::tInputStream &operator >> (serialization::tInputStream &stream, tBSplineCurve<Tdimension, TElement, Tdegree> &spline); |
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171 | |
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172 | #endif |
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173 | |
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174 | //---------------------------------------------------------------------- |
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175 | // End of namespace declaration |
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176 | //---------------------------------------------------------------------- |
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177 | } |
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178 | } |
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179 | |
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180 | |
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181 | #include "rrlib/geometry/curves/tBSplineCurve.hpp" |
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182 | |
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183 | #endif |
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