BSpline.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rtc/gui/StateBuilder.h>
#include <mc_trajectory/Spline.h>
#include <mc_trajectory/api.h>
 
#include <ndcurves/bezier_curve.h>
#include <vector>
 
namespace mc_trajectory
{
 
struct MC_TRAJECTORY_DLLAPI BSpline : public Spline<Eigen::Vector3d, std::vector<Eigen::Vector3d>>
{
  using bezier_curve_t = ndcurves::bezier_curve<double, double, false, Eigen::Vector3d>;
  using waypoints_t = std::vector<Eigen::Vector3d>;
 
public:
  BSpline(double duration,
          const Eigen::Vector3d & start,
          const Eigen::Vector3d & target,
          const waypoints_t & waypoints = {});
 
  void update() override;
 
  std::vector<Eigen::Vector3d> splev(double t, unsigned int der = 0);
 
  std::vector<Eigen::Vector3d> sampleTrajectory();
 
  void addToGUI(mc_rtc::gui::StateBuilder & gui, const std::vector<std::string> & category);
 
private:
  std::unique_ptr<bezier_curve_t> spline = nullptr;
};
 
} // namespace mc_trajectory