usPolynomialCurve3D.h

/****************************************************************************
 *
 * This file is part of the ustk software.
 * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ustk with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at ustk@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Author:
 * Jason Chevrie
 *
 *****************************************************************************/
 
#ifndef __usPolynomialCurve3D_h_
#define __usPolynomialCurve3D_h_
 
#include <vector>
 
#include <visp3/core/vpColVector.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpMatrix.h>
 
class VISP_EXPORT usPolynomialCurve3D
{
public:
  usPolynomialCurve3D();
 
  usPolynomialCurve3D(const usPolynomialCurve3D &curve);
 
  const usPolynomialCurve3D &operator=(const usPolynomialCurve3D &curve);
 
  virtual ~usPolynomialCurve3D();
 
  usPolynomialCurve3D(unsigned int order);
 
  void setOrder(unsigned int order);
 
  unsigned int getOrder() const;
 
  void setStartParameter(double startParameter);
 
  double getStartParameter() const;
 
  void setEndParameter(double endParameter);
 
  double getEndParameter() const;
 
  void setBoundaries(double startParameter, double endParamter);
 
  void setParametricLength(double length);
 
  double getParametricLength() const;
 
  void setLength(double length, double precision = 1e-4);
 
  double getLength(int nbCountSeg = 50) const;
 
  void setPolynomialCoefficients(const vpMatrix &polynomialCoefficients);
 
  vpMatrix getPolynomialCoefficients() const;
 
  vpColVector getPoint(double parameter) const;
 
  vpMatrix getPoints(const vpColVector &parameters) const;
 
  vpColVector getStartPoint() const;
 
  vpColVector getEndPoint() const;
 
  vpColVector getTangent(double parameter) const;
 
  vpColVector getStartTangent() const;
 
  vpColVector getEndTangent() const;
 
  vpColVector getDerivative(double parameter, unsigned int order) const;
 
  void defineFromPoints(const std::vector<vpColVector> &points, const std::vector<double> &param,
                        unsigned int order = 0);
 
  void defineFromPoints(const vpMatrix points, const vpColVector &param, unsigned int order = 0);
 
  void defineFromPointsAuto(const std::vector<vpColVector> &points, unsigned int order = 0);
 
  void defineFromPointsAuto(const vpMatrix &points, unsigned int order = 0);
 
  void defineFromPointsAuto(const std::vector<vpColVector> &points, const vpColVector &direction,
                            unsigned int order = 0);
 
  void defineFromPointsAuto(const vpMatrix &points, const vpColVector &direction, unsigned int order = 0);
 
  void defineFromWeightedPoints(const std::vector<vpColVector> &points, const std::vector<double> &param,
                                const std::vector<double> &weights, unsigned int order = 0);
 
  void defineFromWeightedPoints(const vpMatrix &points, const vpColVector &param, const vpColVector &weights,
                                unsigned int order = 0);
 
  void defineFromWeightedPointsAuto(const std::vector<vpColVector> &points, const std::vector<double> &weights,
                                    unsigned int order = 0);
 
  void defineFromWeightedPointsAuto(const vpMatrix &points, const vpColVector &weights, unsigned int order = 0);
 
  void defineFromWeightedPointsAuto(const std::vector<vpColVector> &points, const std::vector<double> &weights,
                                    const vpColVector &direction, unsigned int order = 0);
 
  void defineFromWeightedPointsAuto(const vpMatrix &points, const vpColVector &weights, const vpColVector &direction,
                                    unsigned int order = 0);
 
  double getCurvature(double param) const;
 
  double getCurvatureFromShape(double start, double end, vpColVector &center3D, vpColVector &direction3D) const;
 
  double getMeanAxisDeviation(int nbCountSeg = 50) const;
 
  void setControlPoints(const vpMatrix &controlPoints);
 
  void setControlPoints(double **controlPoints);
 
  vpMatrix getControlPoints() const;
 
  vpMatrix getRenderingPoints() const;
 
  static double curveDistance(const usPolynomialCurve3D &n1, const usPolynomialCurve3D &n2);
 
  usPolynomialCurve3D getSubPolynomialCurve(double startParameter, double endParameter) const;
 
  usPolynomialCurve3D getNewOrderPolynomialCurve(unsigned int order) const;
 
  void changeCoefficientsToFitBoundaries(double startParameter, double endParameter);
 
  void reverse();
 
  void changeCoefficientsToFitMetricLength();
 
  void move(const vpHomogeneousMatrix &H);
 
  void move(double x, double y, double z, double tx, double ty, double tz);
 
  void scale(double s);
 
 
  friend VISP_EXPORT std::ostream &operator<<(std::ostream &s, const usPolynomialCurve3D &seg);
  friend VISP_EXPORT std::istream &operator>>(std::istream &s, usPolynomialCurve3D &seg);
  friend VISP_EXPORT std::ostream &operator<<=(std::ostream &s, const usPolynomialCurve3D &seg);
  friend VISP_EXPORT std::istream &operator>>=(std::istream &s, usPolynomialCurve3D &seg);
 
protected:
  unsigned int m_order;              // Order of the polynomial curve
  double m_startParameter;           // starting value of the parametric variable
  double m_endParameter;             // ending value of the parametric variable
  vpMatrix m_polynomialCoefficients; // coefficients of the polynomial curve
};
 
VISP_EXPORT std::ostream &operator<<(std::ostream &s, const usPolynomialCurve3D &seg);
VISP_EXPORT std::istream &operator>>(std::istream &s, usPolynomialCurve3D &seg);
 
VISP_EXPORT std::ostream &operator<<=(std::ostream &s, const usPolynomialCurve3D &seg);
VISP_EXPORT std::istream &operator>>=(std::istream &s, usPolynomialCurve3D &seg);
 
#endif // __usPolynomialCurve3D_h_