Diff: include/BezierCurve/beziercurve.hpp

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/BezierCurve/beziercurve.hpp	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,68 @@
+/**
+  ******************************************************************************
+  * @file    BezierCurve.hpp
+  * @author  RBRO/PJ-IU
+  * @version V1.0.0
+  * @date    day-month-year
+  * @brief   This file contains the class declaration for the Bezier Curve
+  *          methods.
+  ******************************************************************************
+ */
+
+/* include guard */
+#ifndef BEZIERCURVE_HPP
+#define BEZIERCURVE_HPP
+
+/* complex numbers in cartesian form and several functions and overloads to operate with them */
+#include <complex>
+#include <BezierCurve/PolynomialFunction.hpp>
+
+#define BEZIER_ORDER 3
+
+namespace math{
+   /**
+    * @brief It implements the functionality of a Bezier curve. The points on the curve are represented by complex numbers and the input value of the curve have to belong to the interval [0,1].
+    * 
+    * @tparam T The type of the Bezier curve. 
+    */
+    template<class T>
+    class BezierCurve
+    {
+        public:
+            /* Constructors */
+            BezierCurve();
+            BezierCurve(std::complex<T> points[BEZIER_ORDER+1]);
+            BezierCurve(std::complex<T> a,std::complex<T> b,std::complex<T> c,std::complex<T> d);
+            /* Destructor */
+            virtual ~BezierCurve();
+            /* Set curve */
+            void setBezierCurve(std::complex<T> a,std::complex<T> b,std::complex<T> c,std::complex<T> d);
+            /* Get value */
+            std::complex<T> getValue(float input_value);
+            /* First order derivate value */
+            std::complex<T> get_FO_DerivateValue(float input_value);
+            /* Second order derivate value */
+            std::complex<T> get_SO_DerivateValue(float input_value);
+
+            math::PolynomialFunction<std::complex<T>,BEZIER_ORDER > getBezierCurve();
+            math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-1> getFODerivate();
+            math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-2> getSODerivate();
+
+        protected:
+
+        private:
+    //        PRIVATE FUNCTIONS
+    //      Convert the complex points to polynomial function
+            math::PolynomialFunction<std::complex<float>,BEZIER_ORDER> CP2PF();
+
+    //        PRIVATE PARAMETERS
+            std::complex<T> points[BEZIER_ORDER+1];
+            math::PolynomialFunction<std::complex<T>,BEZIER_ORDER> bezierCurve;
+            math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-1> FOder_bezierCurve;
+            math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-2> SOder_bezierCurve;
+    };
+};//namespace math
+#include "beziercurve.inl"
+
+#endif // BEZIERCURVE_HPP
+