beziercurve.hpp

00001 /**
00002   ******************************************************************************
00003   * @file    BezierCurve.hpp
00004   * @author  RBRO/PJ-IU
00005   * @version V1.0.0
00006   * @date    day-month-year
00007   * @brief   This file contains the class declaration for the Bezier Curve
00008   *          methods.
00009   ******************************************************************************
00010  */
00011 
00012 /* include guard */
00013 #ifndef BEZIERCURVE_HPP
00014 #define BEZIERCURVE_HPP
00015 
00016 /* complex numbers in cartesian form and several functions and overloads to operate with them */
00017 #include <complex>
00018 #include <BezierCurve/PolynomialFunction.hpp>
00019 
00020 #define BEZIER_ORDER 3
00021 
00022 namespace math{
00023    /**
00024     * @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].
00025     * 
00026     * @tparam T The type of the Bezier curve. 
00027     */
00028     template<class T>
00029     class BezierCurve
00030     {
00031         public:
00032             /* Constructors */
00033             BezierCurve();
00034             BezierCurve(std::complex<T> points[BEZIER_ORDER+1]);
00035             BezierCurve(std::complex<T> a,std::complex<T> b,std::complex<T> c,std::complex<T> d);
00036             /* Destructor */
00037             virtual ~BezierCurve();
00038             /* Set curve */
00039             void setBezierCurve(std::complex<T> a,std::complex<T> b,std::complex<T> c,std::complex<T> d);
00040             /* Get value */
00041             std::complex<T> getValue(float input_value);
00042             /* First order derivate value */
00043             std::complex<T> get_FO_DerivateValue(float input_value);
00044             /* Second order derivate value */
00045             std::complex<T> get_SO_DerivateValue(float input_value);
00046 
00047             math::PolynomialFunction<std::complex<T>,BEZIER_ORDER > getBezierCurve();
00048             math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-1> getFODerivate();
00049             math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-2> getSODerivate();
00050 
00051         protected:
00052 
00053         private:
00054     //        PRIVATE FUNCTIONS
00055     //      Convert the complex points to polynomial function
00056             math::PolynomialFunction<std::complex<float>,BEZIER_ORDER> CP2PF();
00057 
00058     //        PRIVATE PARAMETERS
00059             std::complex<T> points[BEZIER_ORDER+1];
00060             math::PolynomialFunction<std::complex<T>,BEZIER_ORDER> bezierCurve;
00061             math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-1> FOder_bezierCurve;
00062             math::PolynomialFunction<std::complex<T>,BEZIER_ORDER-2> SOder_bezierCurve;
00063     };
00064 };//namespace math
00065 #include "beziercurve.inl"
00066 
00067 #endif // BEZIERCURVE_HPP
00068