spline_functions.h

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/*
 * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
 * Copyright (C) 2010  University of Osnabrück
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * spline_functions.h
 *
 *  Created on: 20.12.2010
 *      Author: Martin Günther <mguenthe@uos.de>
 */

#ifndef SPLINE_FUNCTIONS_H_
#define SPLINE_FUNCTIONS_H_

#include <boost/numeric/ublas/lu.hpp>

namespace katana
{
// These functions are pulled from the spline_smoother package.
// They've been moved here to avoid depending on packages that aren't
// mature yet.
inline void generatePowers(int n, double x, double* powers);

void sampleCubicSpline(const std::vector<double>& coefficients, double time, double& position, double& velocity,
                       double& acceleration);

void getCubicSplineCoefficients(double start_pos, double start_vel, double end_pos, double end_vel, double time,
                                std::vector<double>& coefficients);

void splineCoefficients(int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2,
                        double *arr_p3, double *arr_p4);

void sampleSplineWithTimeBounds(const std::vector<double>& coefficients, double duration, double time,
                                double& position, double& velocity, double& acceleration);

} // namespace katana

#endif /* SPLINE_FUNCTIONS_H_ */