vpNurbs.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 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 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 Non Uniform Rational B-Spline (NURBS)
 *
 * Authors:
 * Nicolas Melchior
 *
 *****************************************************************************/

#ifndef vpNurbs_H
#define vpNurbs_H

#include <visp3/core/vpBSpline.h>
#include <visp3/core/vpImagePoint.h>
#include <visp3/core/vpList.h>
#include <visp3/core/vpMath.h>
#include <visp3/core/vpMatrix.h>
#include <visp3/me/vpMeSite.h>

#include <list>

class VISP_EXPORT vpNurbs : public vpBSpline
{
protected:
  std::vector<double> weights; // Vector which contains the weights associated
                               // to each control Points

protected:
  static vpMatrix 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,
                                   std::vector<double> &l_weights);
  vpMatrix computeCurveDers(double u, unsigned int der);

public:
  vpNurbs();
  vpNurbs(const vpNurbs &nurbs);
  virtual ~vpNurbs();

  inline void get_weights(std::list<double> &list) const
  {
    list.clear();
    for (unsigned int i = 0; i < weights.size(); i++)
      list.push_back(*(&(weights[0]) + i));
  }

  inline void set_weights(const std::list<double> &list)
  {
    weights.clear();
    for (std::list<double>::const_iterator it = list.begin(); it != list.end(); ++it) {
      weights.push_back(*it);
    }
  }

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

  static vpImagePoint *computeCurveDersPoint(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,
                                             std::vector<double> &l_weights);
  vpImagePoint *computeCurveDersPoint(double u, unsigned int der);

  static void curveKnotIns(double l_u, unsigned int l_k, unsigned int l_s, unsigned int l_r, unsigned int l_p,
                           std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints,
                           std::vector<double> &l_weights);
  void curveKnotIns(double u, unsigned int s = 0, unsigned int r = 1);

  static void refineKnotVectCurve(double *l_x, unsigned int l_r, unsigned int l_p, std::vector<double> &l_knots,
                                  std::vector<vpImagePoint> &l_controlPoints, std::vector<double> &l_weights);
  void refineKnotVectCurve(double *x, unsigned int r);

  static unsigned int removeCurveKnot(double l_u, unsigned int l_r, unsigned int l_num, double l_TOL, unsigned int l_s,
                                      unsigned int l_p, std::vector<double> &l_knots,
                                      std::vector<vpImagePoint> &l_controlPoints, std::vector<double> &l_weights);
  unsigned int removeCurveKnot(double l_u, unsigned int l_r, unsigned int l_num, double l_TOL);

  static void globalCurveInterp(std::vector<vpImagePoint> &l_crossingPoints, unsigned int l_p,
                                std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints,
                                std::vector<double> &l_weights);
  void globalCurveInterp(vpList<vpMeSite> &l_crossingPoints);
  void globalCurveInterp(const std::list<vpImagePoint> &l_crossingPoints);
  void globalCurveInterp(const std::list<vpMeSite> &l_crossingPoints);
  void globalCurveInterp();

  static void globalCurveApprox(std::vector<vpImagePoint> &l_crossingPoints, unsigned int l_p, unsigned int l_n,
                                std::vector<double> &l_knots, std::vector<vpImagePoint> &l_controlPoints,
                                std::vector<double> &l_weights);
  void globalCurveApprox(vpList<vpMeSite> &l_crossingPoints, unsigned int n);
  void globalCurveApprox(const std::list<vpImagePoint> &l_crossingPoints, unsigned int n);
  void globalCurveApprox(const std::list<vpMeSite> &l_crossingPoints, unsigned int n);
  void globalCurveApprox(unsigned int n);
};

#endif