PolygonInterpolator.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_rbdyn/api.h>
 
#include <array>
#include <memory>
#include <vector>
 
namespace geos
{
namespace geom
{
class Geometry;
class GeometryFactory;
} // namespace geom
} // namespace geos
 
namespace mc_rbdyn
{
 
struct MC_RBDYN_DLLAPI PolygonInterpolator
{
public:
  typedef std::array<double, 2> tuple_t;
  typedef std::pair<tuple_t, tuple_t> tuple_pair_t;
 
private:
  struct GeometryDeleter
  {
  public:
    GeometryDeleter(const geos::geom::GeometryFactory & factory);
 
    void operator()(geos::geom::Geometry * ptr);
 
  private:
    const geos::geom::GeometryFactory & factory;
  };
 
public:
  PolygonInterpolator(const std::vector<tuple_pair_t> & tpv);
 
  std::shared_ptr<geos::geom::Geometry> fast_interpolate(double percent);
 
  std::vector<tuple_t> midpoint_derivative(double epsilon_derivative);
 
  std::vector<tuple_t> normal_derivative(double epsilon_derivative);
 
  const std::vector<tuple_pair_t> & tuple_pairs() const;
 
private:
  const geos::geom::GeometryFactory & geom_factory;
  GeometryDeleter geom_deleter;
  std::vector<tuple_pair_t> tuple_pairs_;
  std::vector<tuple_pair_t> midpoints;
};
 
} // namespace mc_rbdyn