Diff: Bezier.cpp

Revision:

0:62707e16531a

Child:

1:698586aa0c5a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Bezier.cpp	Sat Sep 01 09:07:35 2018 +0000
@@ -0,0 +1,72 @@
+#include "Bezier.h"
+
+
+BezierCurve::BezierCurve(){
+    length = 0;
+}
+
+//指定区間の長さを出す関数
+double BezierCurve::range(double start,double stop){
+    
+    double len = 0;
+    double _posi[2] = {};
+    
+    for(; start<stop; start+=WIDTH){
+        
+        double posi[2] = {callX(start), callY(start)};
+        
+        len += hypot( posi[0] - _posi[0], posi[1] - _posi[1]);
+        
+        _posi[0] = posi[0];
+        _posi[1] = posi[1];
+        
+    }
+    
+    return len;
+}
+
+//ベジエ曲線のパラメータを設定する関数
+void BezierCurve::set(double (&pX)[4], double (&pY)[4], double (&pT)[4]){
+    
+    for(int i=0; i<4; i++){
+        pointX[i] = pX[i];
+        pointY[i] = pY[i];
+        pointT[i] = pT[i];
+    }
+    
+    length = range(0,1);
+}
+
+
+double BezierCurve::callX(double ratio){
+    return (1-ratio)*(1-ratio)*(1-ratio)*pointX[0] + (1-ratio)*(1-ratio)*ratio*pointX[1]+
+           (1-ratio)*ratio    *ratio    *pointX[2] + ratio    *ratio    *ratio*pointX[3];
+}
+
+double BezierCurve::callY(double ratio){
+    return (1-ratio)*(1-ratio)*(1-ratio)*pointY[0] + (1-ratio)*(1-ratio)*ratio*pointY[1]+
+           (1-ratio)*ratio    *ratio    *pointY[2] + ratio    *ratio    *ratio*pointY[3];
+}
+
+double BezierCurve::callT(double ratio){
+    return (1-ratio)*(1-ratio)*(1-ratio)*pointT[0] + (1-ratio)*(1-ratio)*ratio*pointT[1]+
+           (1-ratio)*ratio    *ratio    *pointT[2] + ratio    *ratio    *ratio*pointT[3];
+}
+/*
+double BezierCurve::aimPoint(double dist, double crrX, double crrY, double (&tgtPosi)[3]){
+    
+    double r = 0;
+    
+    do {
+        r += WIDTH;
+        if(r >= 1){ break; }
+        
+    } while(hypot(callX(r) - crrX, callY(r) - crrY) < dist);
+    
+    tgtPosi[0] = callX(r);
+    tgtPosi[1] = callY(r);
+    tgtPosi[2] = callT(r);
+    
+    return range(r,1);
+}
+*/
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