vpBSpline.h

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2017 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
 * ("GPL") version 2 as published by the Free Software Foundation.
 * 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 http://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
 *
 * Authors:
 * Nicolas Melchior
 * 
 *****************************************************************************/

#ifndef vpBSpline_H
#define vpBSpline_H

#include <visp3/core/vpImagePoint.h>

#include <vector>
#include <list>
#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, std::vector<double> &l_knots);
    unsigned int findSpan(double u);

    static vpBasisFunction* computeBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, std::vector<double> &l_knots);
    vpBasisFunction* computeBasisFuns(double u);

    static vpBasisFunction** computeDersBasisFuns(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der, std::vector<double> &l_knots);
    vpBasisFunction** computeDersBasisFuns(double u, unsigned int der);

    static vpImagePoint computeCurvePoint(double l_u, unsigned int l_i, unsigned int l_p, std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints);
    vpImagePoint computeCurvePoint(double u);

    static vpImagePoint* computeCurveDers(double l_u, unsigned int l_i, unsigned int l_p, unsigned int l_der, std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints);
    vpImagePoint* computeCurveDers(double u, unsigned int der);
};

#endif