vpBSpline.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * This class implements the B-Spline
 */
 
#ifndef vpBSpline_H
#define vpBSpline_H
 
#include <visp3/core/vpImagePoint.h>
 
#include <list>
#include <vector>
#include <visp3/core/vpMatrix.h>
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
typedef struct vpBasisFunction
{
  unsigned int i;
  unsigned int p;
  double u;
  unsigned int k;
  double value;
} vpBasisFunction;
#endif
 
class VISP_EXPORT vpBSpline
{
public /*protected*/:
  std::vector<vpImagePoint> controlPoints;
  std::vector<double> knots;
  unsigned int p;
  std::vector<vpImagePoint> crossingPoints;
 
public:
  vpBSpline();
  vpBSpline(const vpBSpline &bspline);
  virtual ~vpBSpline();
 
  inline unsigned int get_p() const { return p; }
 
  inline void get_controlPoints(std::list<vpImagePoint> &list) const
  {
    list.clear();
    for (unsigned int i = 0; i < controlPoints.size(); i++) {
      list.push_back(*(&(controlPoints[0]) + i));
    }
  }
 
  inline void get_knots(std::list<double> &list) const
  {
    list.clear();
    for (unsigned int i = 0; i < knots.size(); i++) {
      list.push_back(*(&(knots[0]) + i));
    }
  }
 
  inline void get_crossingPoints(std::list<vpImagePoint> &list) const
  {
    list.clear();
    for (unsigned int i = 0; i < crossingPoints.size(); i++) {
      list.push_back(*(&(crossingPoints[0]) + i));
    }
  }
 
  inline void set_p(unsigned int degree) { this->p = degree; }
 
  inline void set_controlPoints(const std::list<vpImagePoint> &list)
  {
    controlPoints.clear();
    for (std::list<vpImagePoint>::const_iterator it = list.begin(); it != list.end(); ++it) {
      controlPoints.push_back(*it);
    }
  }
 
  inline void set_knots(const std::list<double> &list)
  {
    knots.clear();
    for (std::list<double>::const_iterator it = list.begin(); it != list.end(); ++it) {
      knots.push_back(*it);
    }
  }
 
  inline void set_crossingPoints(const std::list<vpImagePoint> &list)
  {
    crossingPoints.clear();
    for (std::list<vpImagePoint>::const_iterator it = list.begin(); it != list.end(); ++it) {
      crossingPoints.push_back(*it);
    }
  }
 
  static unsigned int findSpan(double l_u, unsigned int l_p, const std::vector<double> &l_knots);
  unsigned int findSpan(double u) const;
 
  static vpBasisFunction *computeBasisFuns(double l_u, unsigned int l_i, unsigned int l_p,
                                           const std::vector<double> &l_knots);
  vpBasisFunction *computeBasisFuns(double u) const;
 
  static vpBasisFunction **computeDersBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der,
                                                const std::vector<double> &l_knots);
  vpBasisFunction **computeDersBasisFuns(double u, unsigned int der) const;
 
  static vpImagePoint computeCurvePoint(double l_u, unsigned int l_i, unsigned int l_p, const std::vector<double> &l_knots,
                                        const std::vector<vpImagePoint> &l_controlPoints);
  vpImagePoint computeCurvePoint(double u) const;
 
  static vpImagePoint *computeCurveDers(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der,
                                        const std::vector<double> &l_knots, const std::vector<vpImagePoint> &l_controlPoints);
  vpImagePoint *computeCurveDers(double u, unsigned int der) const;
};
 
#endif