46 double Nij_t(
int i,
int j,
double t, std::deque<double> &knot);
98 std::vector<double>
ToMP = std::vector<double>(),
99 std::vector<double>
MP = std::vector<double>(),
double IS = 0.0,
100 double IA = 0.0,
double FS = 0.0,
double FA = 0.0);
114 std::vector<double>
MP,
double IS = 0.0,
double IA = 0.0,
115 double FS = 0.0,
double FA = 0.0);
117 double IA,
double FS,
double FA);
120 int Compute(
double t,
double &
x,
double &dx,
double &ddx);
131 std::vector<double> &
ToMP, std::vector<double> &
MP);
133 std::vector<double>
MP() {
return m_MP; }
135 std::vector<double>
ToMP() {
return m_ToMP; }
137 double FT() {
return m_FT; }
139 void FT(
double ft) { m_FT = ft; }
141 double IP() {
return m_IP; }
143 double FP() {
return m_FP; }
146 std::vector<double> &
ToMP,
147 std::vector<double> &
MP);
159 std::vector<double> m_MP;
std::vector< std::vector< double > > m_basis_functions
Definition: Bsplines.hh:82
std::deque< double > GetKnotVector() const
Definition: Bsplines.cpp:247
int ComputeBasisFunctionsRecursively(double t, std::deque< double > &knot, unsigned int degree)
Definition: Bsplines.cpp:144
double y
Definition: Bsplines.hh:16
Bsplines(long int degree)
Definition: Bsplines.cpp:11
void SetKnotVector(std::deque< double > &knot_vector)
Definition: Bsplines.cpp:237
double x
Definition: Bsplines.hh:15
void PrintKnotVector() const
Definition: Bsplines.cpp:249
std::vector< double > m_control_points
Definition: Bsplines.hh:78
doublereal * x
Definition: qld.cpp:386
void PrintControlPoints() const
Definition: Bsplines.cpp:257
std::vector< double > GetControlPoints() const
Definition: Bsplines.cpp:243
Definition: Bsplines.hh:22
void SetDegree(long int degree)
Definition: Bsplines.cpp:227
void SetControlPoints(std::vector< double > &control_points)
Definition: Bsplines.cpp:229
int ComputeBasisFunctions(double t)
Definition: Bsplines.cpp:28
std::vector< double > m_basis_functions_sec_derivative
Definition: Bsplines.hh:84
std::vector< double > m_basis_functions_derivative
Definition: Bsplines.hh:83
Definition: Bsplines.hh:14
std::vector< double > m_derivative_control_points
Definition: Bsplines.hh:79
void GenerateDegree()
Definition: Bsplines.cpp:19
~Bsplines()
Definition: Bsplines.cpp:17
double Nij_t(int i, int j, double t, std::deque< double > &knot)
Definition: Bsplines.cpp:155
long int GetDegree() const
Definition: Bsplines.cpp:241
Bsplines DerivativeBsplines()
Definition: Bsplines.cpp:197
std::vector< double > m_sec_derivative_control_points
Definition: Bsplines.hh:80
double ComputeBsplines(double t)
Definition: Bsplines.cpp:183
Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
void PrintDegree() const
Definition: Bsplines.cpp:265
long int m_degree
Definition: Bsplines.hh:76
std::deque< double > m_knot
Definition: Bsplines.hh:86