curve.h

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/* This software and supporting documentation are distributed by
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 * and INRIA at the following URL "http://www.cecill.info".
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#ifndef AIMS_CURVE_CURVE_H
#define AIMS_CURVE_CURVE_H

#include <aims/vector/vector.h>
#include <cartobase/smart/rcptr.h>
#include <vector>
#include <exception>

namespace aims
{

 
  //------------//
 //  Polyline  //
//------------//

class Polyline
{
public:

  typedef float Scalar_t;
  typedef AimsVector< Scalar_t, 3 > Point_t;
  typedef std::vector< Point_t >::const_iterator const_iterator;

  inline size_t size() const;
  bool push_back( const Point_t & );
  inline const_iterator begin() const;

  inline const_iterator end() const;
  inline const Point_t &operator []( size_t ) const;
  inline void reserve( size_t );
  inline void clear();

  Scalar_t length() const;

  void resample( size_t numberOfPoints, std::vector< Point_t > & );

private:

  std::vector< Point_t > _points;
};



  //----------------------------------//
 //  PolylinePolynomialInterpolator  //
//----------------------------------//

class PolylinePolynomialInterpolator
{
public:

  typedef Polyline::Point_t Tangent_t;

  inline PolylinePolynomialInterpolator( const Polyline & );
  inline PolylinePolynomialInterpolator( const Polyline &,
                                         const std::vector< Tangent_t > & );
  void reset( const Polyline & );
  void reset( const Polyline &, 
              const std::vector< Tangent_t > & );

  Polyline::Scalar_t length() const;

  class Sampler {
  public:
    bool isValid() const;
    void step( Polyline::Scalar_t );
    Polyline::Point_t point() const;
    PolylinePolynomialInterpolator::Tangent_t tangent() const;
    Polyline::Scalar_t curvature() const;
    PolylinePolynomialInterpolator::Tangent_t normal() const;

  private:
    friend class PolylinePolynomialInterpolator;

    Sampler( const PolylinePolynomialInterpolator &,
             Polyline::Scalar_t start );

    const PolylinePolynomialInterpolator &_interpolator;
    Polyline::Scalar_t _lengthFromStart;
    unsigned _splineIndex;
    Polyline::Scalar_t _lengthInSpline;

  };

  inline Sampler sampler( Polyline::Scalar_t start = 0 ) const;


private:

  struct Spline {
    Tangent_t a, b, c, d;
    Polyline::Scalar_t length;
  };

  friend Polyline::Scalar_t 
  splineArcLength( const Spline &si,
                   const Polyline::Scalar_t &from,
                   const Polyline::Scalar_t &to );
  friend class Sampler;

  std::vector< Spline > _splines;
};



  //------------//
 //  Polyline  //
//------------//

//-----------------------------------------------------------------------------
inline size_t Polyline::size() const
{
  return _points.size();
}


//-----------------------------------------------------------------------------
inline Polyline::const_iterator Polyline::begin() const
{
  return _points.begin();
}


//-----------------------------------------------------------------------------
inline Polyline::const_iterator Polyline::end() const
{
  return _points.end();
}


//-----------------------------------------------------------------------------
inline const Polyline::Point_t &Polyline::operator []( size_t index ) const
{
  return _points[ index ];
}


//-----------------------------------------------------------------------------
inline void Polyline::reserve( size_t space )
{
  return _points.reserve( space );
}


//-----------------------------------------------------------------------------
inline void Polyline::clear()
{
  return _points.clear();
}


  //----------------------------------//
 //  PolylinePolynomialInterpolator  //
//----------------------------------//

//-----------------------------------------------------------------------------
inline PolylinePolynomialInterpolator::PolylinePolynomialInterpolator
( const Polyline &line )
{
  reset( line );
}

//-----------------------------------------------------------------------------
inline PolylinePolynomialInterpolator::PolylinePolynomialInterpolator
( const Polyline &line,
  const std::vector< Tangent_t > &tangents )
{
  reset( line, tangents );
}


//-----------------------------------------------------------------------------
inline PolylinePolynomialInterpolator::Sampler
PolylinePolynomialInterpolator::sampler( Polyline::Scalar_t start ) const
{
  return Sampler( *this, start );
}



} // namespace aims

#endif // ifndef AIMS_CURVE_H