diff options
Diffstat (limited to 'unsupported/Eigen/src/Splines/Spline.h')
| -rw-r--r-- | unsupported/Eigen/src/Splines/Spline.h | 74 |
1 files changed, 56 insertions, 18 deletions
diff --git a/unsupported/Eigen/src/Splines/Spline.h b/unsupported/Eigen/src/Splines/Spline.h index 771f10432..627f6e482 100644 --- a/unsupported/Eigen/src/Splines/Spline.h +++ b/unsupported/Eigen/src/Splines/Spline.h @@ -44,9 +44,15 @@ namespace Eigen /** \brief The data type used to store knot vectors. */ typedef typename SplineTraits<Spline>::KnotVectorType KnotVectorType; + + /** \brief The data type used to store parameter vectors. */ + typedef typename SplineTraits<Spline>::ParameterVectorType ParameterVectorType; /** \brief The data type used to store non-zero basis functions. */ typedef typename SplineTraits<Spline>::BasisVectorType BasisVectorType; + + /** \brief The data type used to store the values of the basis function derivatives. */ + typedef typename SplineTraits<Spline>::BasisDerivativeType BasisDerivativeType; /** \brief The data type representing the spline's control points. */ typedef typename SplineTraits<Spline>::ControlPointVectorType ControlPointVectorType; @@ -57,7 +63,7 @@ namespace Eigen **/ Spline() : m_knots(1, (Degree==Dynamic ? 2 : 2*Degree+2)) - , m_ctrls(ControlPointVectorType::Zero(2,(Degree==Dynamic ? 1 : Degree+1))) + , m_ctrls(ControlPointVectorType::Zero(Dimension,(Degree==Dynamic ? 1 : Degree+1))) { // in theory this code can go to the initializer list but it will get pretty // much unreadable ... @@ -88,7 +94,7 @@ namespace Eigen const KnotVectorType& knots() const { return m_knots; } /** - * \brief Returns the knots of the underlying spline. + * \brief Returns the ctrls of the underlying spline. **/ const ControlPointVectorType& ctrls() const { return m_ctrls; } @@ -203,10 +209,25 @@ namespace Eigen **/ static BasisVectorType BasisFunctions(Scalar u, DenseIndex degree, const KnotVectorType& knots); + /** + * \copydoc Spline::basisFunctionDerivatives + * \param degree The degree of the underlying spline + * \param knots The underlying spline's knot vector. + **/ + static BasisDerivativeType BasisFunctionDerivatives( + const Scalar u, const DenseIndex order, const DenseIndex degree, const KnotVectorType& knots); private: KnotVectorType m_knots; /*!< Knot vector. */ ControlPointVectorType m_ctrls; /*!< Control points. */ + + template <typename DerivativeType> + static void BasisFunctionDerivativesImpl( + const typename Spline<_Scalar, _Dim, _Degree>::Scalar u, + const DenseIndex order, + const DenseIndex p, + const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& U, + DerivativeType& N_); }; template <typename _Scalar, int _Dim, int _Degree> @@ -345,20 +366,24 @@ namespace Eigen } /* --------------------------------------------------------------------------------------------- */ - - template <typename SplineType, typename DerivativeType> - void basisFunctionDerivativesImpl(const SplineType& spline, typename SplineType::Scalar u, DenseIndex order, DerivativeType& N_) + + + template <typename _Scalar, int _Dim, int _Degree> + template <typename DerivativeType> + void Spline<_Scalar, _Dim, _Degree>::BasisFunctionDerivativesImpl( + const typename Spline<_Scalar, _Dim, _Degree>::Scalar u, + const DenseIndex order, + const DenseIndex p, + const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& U, + DerivativeType& N_) { + typedef Spline<_Scalar, _Dim, _Degree> SplineType; enum { Order = SplineTraits<SplineType>::OrderAtCompileTime }; typedef typename SplineTraits<SplineType>::Scalar Scalar; typedef typename SplineTraits<SplineType>::BasisVectorType BasisVectorType; - typedef typename SplineTraits<SplineType>::KnotVectorType KnotVectorType; - - const KnotVectorType& U = spline.knots(); - - const DenseIndex p = spline.degree(); - const DenseIndex span = spline.span(u); + + const DenseIndex span = SplineType::Span(u, p, U); const DenseIndex n = (std::min)(p, order); @@ -369,7 +394,7 @@ namespace Eigen Matrix<Scalar,Order,Order> ndu(p+1,p+1); - double saved, temp; + Scalar saved, temp; // FIXME These were double instead of Scalar. Was there a reason for that? ndu(0,0) = 1.0; @@ -408,7 +433,7 @@ namespace Eigen // Compute the k-th derivative for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k) { - double d = 0.0; + Scalar d = 0.0; DenseIndex rk,pk,j1,j2; rk = r-k; pk = p-k; @@ -446,7 +471,7 @@ namespace Eigen r = p; for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k) { - for (DenseIndex j=p; j>=0; --j) N_(k,j) *= r; + for (j=p; j>=0; --j) N_(k,j) *= r; r *= p-k; } } @@ -455,8 +480,8 @@ namespace Eigen typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const { - typename SplineTraits< Spline >::BasisDerivativeType der; - basisFunctionDerivativesImpl(*this, u, order, der); + typename SplineTraits<Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType der; + BasisFunctionDerivativesImpl(u, order, degree(), knots(), der); return der; } @@ -465,8 +490,21 @@ namespace Eigen typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const { - typename SplineTraits< Spline, DerivativeOrder >::BasisDerivativeType der; - basisFunctionDerivativesImpl(*this, u, order, der); + typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType der; + BasisFunctionDerivativesImpl(u, order, degree(), knots(), der); + return der; + } + + template <typename _Scalar, int _Dim, int _Degree> + typename SplineTraits<Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType + Spline<_Scalar, _Dim, _Degree>::BasisFunctionDerivatives( + const typename Spline<_Scalar, _Dim, _Degree>::Scalar u, + const DenseIndex order, + const DenseIndex degree, + const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& knots) + { + typename SplineTraits<Spline>::BasisDerivativeType der; + BasisFunctionDerivativesImpl(u, order, degree, knots, der); return der; } } |