Diff: include/BezierCurve/beziercurve.inl

Revision:

1:ceee5a608e7c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/BezierCurve/beziercurve.inl	Thu Mar 28 07:44:42 2019 +0000
@@ -0,0 +1,167 @@
+
+namespace math{
+
+    /**
+     * @brief Construct a new Bezier Curve< T>:: Bezier Curve object
+     * 
+     */
+    template<class T>
+    BezierCurve<T>::BezierCurve(){
+    }
+
+    /**
+     * @brief Construct a new Bezier Curve< T>:: Bezier Curve object
+     * 
+     * @param a point A
+     * @param b point B
+     * @param c point C
+     * @param d point D
+     */
+    template<class T>
+    BezierCurve<T>::BezierCurve(std::complex<T> a,std::complex<T> b,std::complex<T> c,std::complex<T> d){
+        this->points[0]=a;
+        this->points[1]=b;
+        this->points[2]=c;
+        this->points[3]=d;
+
+        this->bezierCurve=this->CP2PF();
+        this->FOder_bezierCurve=this->bezierCurve.derivateFO();
+        this->SOder_bezierCurve=this->FOder_bezierCurve.derivateFO();
+    }
+
+    /**
+     * @brief Construct a new Bezier Curve< T>:: Bezier Curve object
+     * 
+     * @param points Array of points 
+     */
+    template<class T>
+    BezierCurve<T>::BezierCurve(std::complex<T> points[BEZIER_ORDER+1])
+    {
+        for(int32_t i=0;i<=BEZIER_ORDER;++i){
+            this->points[i]=points[i];
+        }
+        this->bezierCurve=this->CP2PF();
+        this->FOder_bezierCurve=this->bezierCurve.derivateFO();
+        this->SOder_bezierCurve=this->FOder_bezierCurve.derivateFO();
+    }
+
+    /**
+     * @brief Destroy the Bezier Curve< T>:: Bezier Curve object
+     * 
+     */
+    template<class T>
+    BezierCurve<T>::~BezierCurve()
+    {
+        //dtor
+    }
+
+    /**
+     * @brief This metohd create a new polynomial function based on the complex points.
+     * 
+     * @return The result polynomial function represent the Bezier curve.
+     */
+    template<class T>
+    math::PolynomialFunction<std::complex<float>,BEZIER_ORDER> BezierCurve<T>::CP2PF(){
+        math::PolynomialFunction<std::complex<float>,BEZIER_ORDER> pf;
+
+        const std::complex<T> temp_cst_3(3,0);
+        const std::complex<T> temp_cst_2(2,0);
+
+        std::complex<T> coef1=temp_cst_3*(this->points[1]-this->points[0]);
+        std::complex<T> coef2=temp_cst_3*(this->points[0]-temp_cst_2*this->points[1]+this->points[2]);
+        std::complex<T> coef3=temp_cst_3*(this->points[1]-this->points[2])+this->points[3]-this->points[0];
+        pf.setCoefficientValue(0,this->points[0]);
+        pf.setCoefficientValue(1,coef1);
+        pf.setCoefficientValue(2,coef2);
+        pf.setCoefficientValue(3,coef3);
+        return pf;
+    }
+
+    /**
+     * @brief Get the point on the bezier curve. 
+     * 
+     * @param input_value  The input value, it must belong to interval [0,1]. 
+     * @return The point as complex number
+     */
+    template<class T>
+    std::complex<T> BezierCurve<T>::getValue(float input_value){
+        T input_value_T=static_cast<T>(input_value);
+        return this->bezierCurve.calculateValue(input_value);
+    }
+
+    template<class T>
+    /**
+     * @brief Get the value of the first order derivative of Bezier curve
+     * 
+     * @param input_value The input value [0,1]
+     * @return The point as a complex number.
+     * 
+     */
+    std::complex<T> BezierCurve<T>::get_FO_DerivateValue(float input_value){
+        T input_value_T=static_cast<T>(input_value);
+        return this->FOder_bezierCurve.calculateValue(input_value_T);
+    }
+
+    /**
+     * @brief Get the value of the second order derivative of Bezier Curve.
+     * 
+     * @param input_value The input value of the function have to belong to interval [0,1]
+     * @return The resulted value as a complex number.
+     */
+    template<class T>
+    std::complex<T> BezierCurve<T>::get_SO_DerivateValue(float input_value){
+        T input_value_T=static_cast<T>(input_value);
+
+        return this->SOder_bezierCurve.calculateValue(input_value_T);
+    }
+
+    /**
+     * @brief Get the polynomial function, which respresents the Bezier curve.
+     * 
+     */
+    template<class T>
+    math::PolynomialFunction<std::complex<T>,BEZIER_ORDER> BezierCurve<T>::getBezierCurve(){
+        return this->bezierCurve;
+    }
+
+    /**
+     * @brief Get resulted polynomial function of the first order derivative
+     * 
+     * @return math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-1> 
+     */
+    template<class T>
+    math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-1> BezierCurve<T>::getFODerivate(){
+        return this->FOder_bezierCurve;
+    }
+
+    template<class T>
+    /**
+     * @brief Get resulted polynomial function of the second order derivative
+     * 
+     * @return math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-2> 
+     */
+    math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-2> BezierCurve<T>::getSODerivate(){
+        return this->SOder_bezierCurve;
+    }
+
+    template<class T>
+    /**
+     * @brief Set the points for creating a new Bezier curve
+     * 
+     * @param a point A
+     * @param b point B
+     * @param c point C
+     * @param d point D
+     */
+    void  BezierCurve<T>::setBezierCurve(std::complex<T> a,std::complex<T> b,std::complex<T> c,std::complex<T> d){
+        this->points[0]=a;
+        this->points[1]=b;
+        this->points[2]=c;
+        this->points[3]=d;
+
+        this->bezierCurve=this->CP2PF();
+        this->FOder_bezierCurve=this->bezierCurve.derivateFO();
+        this->SOder_bezierCurve=this->FOder_bezierCurve.derivateFO();
+    }
+
+}; // namespace math