/usr/include/SurgSim/Math/CardinalSplines.h is in libopensurgsim-dev 0.7.0-5.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | // This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_CARDINALSPLINES_H
#define SURGSIM_MATH_CARDINALSPLINES_H
#include <vector>
#include "SurgSim/DataStructures/Vertices.h"
#include "SurgSim/Math/Vector.h"
/// \file CardinalSplines.h collects the utilities to do Cardinal Splines interpolation.
namespace SurgSim
{
namespace Math
{
namespace CardinalSplines
{
/// Function to add two 'ghost' points to 'points' at the beginning and the end,
/// prepare 'points' for Cardinal Splines interpolation.
/// \param points List of points to be interpolated.
/// \param[out] result List of points with two ghost points added,
/// one at the beginning and another at the end of 'points'.
void extendControlPoints(const SurgSim::DataStructures::VerticesPlain& points,
std::vector<SurgSim::Math::Vector3d>* result);
/// Run Cardinal Splines interpolation on 'controlPoints'.
/// See https://en.wikipedia.org/wiki/Centripetal_Catmull-Rom_spline
/// https://en.wikipedia.org/wiki/Cubic_Hermite_spline
/// https://people.cs.clemson.edu/~dhouse/courses/405/notes/splines.pdf
/// https://www.cs.utexas.edu/~fussell/courses/cs384g/lectures/lecture16-Interpolating_curves.pdf for more details.
/// \param subdivisions Number of interpolated points between each pair of control points.
/// \param controlPoints List of points to be interpolated.
/// \param[out] points List of interpolated points, not including the control points.
/// \param tau Defines the tension, affects how sharply the curve bends at the control points.
void interpolate(size_t subdivisions,
const std::vector<Math::Vector3d>& controlPoints,
std::vector<Math::Vector3d>* points,
double tau = 0.4);
}; // namespace CardinalSplines
}; // namespace Math
}; // namespace SurgSim
#endif // SURGSIM_MATH_CARDINALSPLINES_H
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