SplineFwd.h
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00001 // This file is part of Eigen, a lightweight C++ template library
00002 // for linear algebra.
00003 //
00004 // Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
00005 //
00006 // This Source Code Form is subject to the terms of the Mozilla
00007 // Public License v. 2.0. If a copy of the MPL was not distributed
00008 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
00009 
00010 #ifndef EIGEN_SPLINES_FWD_H
00011 #define EIGEN_SPLINES_FWD_H
00012 
00013 #include <Eigen/Core>
00014 
00015 namespace Eigen
00016 {
00017     template <typename Scalar, int Dim, int Degree = Dynamic> class Spline;
00018 
00019     template < typename SplineType, int DerivativeOrder = Dynamic > struct SplineTraits {};
00020 
00025     template <typename _Scalar, int _Dim, int _Degree>
00026     struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, Dynamic >
00027     {
00028       typedef _Scalar Scalar; 
00029       enum { Dimension = _Dim  };
00030       enum { Degree = _Degree  };
00031 
00032       enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1  };
00033       enum { NumOfDerivativesAtCompileTime = OrderAtCompileTime  };
00034 
00036       typedef Array<Scalar,1,OrderAtCompileTime> BasisVectorType;
00037 
00039       typedef Array<Scalar,Dynamic,Dynamic,RowMajor,NumOfDerivativesAtCompileTime,OrderAtCompileTime> BasisDerivativeType;
00040       
00042       typedef Array<Scalar,Dimension,Dynamic,ColMajor,Dimension,NumOfDerivativesAtCompileTime> DerivativeType;
00043 
00045       typedef Array<Scalar,Dimension,1> PointType;
00046       
00048       typedef Array<Scalar,1,Dynamic> KnotVectorType;
00049       
00051       typedef Array<Scalar,Dimension,Dynamic> ControlPointVectorType;
00052     };
00053 
00060     template < typename _Scalar, int _Dim, int _Degree, int _DerivativeOrder >
00061     struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, _DerivativeOrder > : public SplineTraits< Spline<_Scalar, _Dim, _Degree> >
00062     {
00063       enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1  };
00064       enum { NumOfDerivativesAtCompileTime = _DerivativeOrder==Dynamic ? Dynamic : _DerivativeOrder+1  };
00065 
00067       typedef Array<_Scalar,Dynamic,Dynamic,RowMajor,NumOfDerivativesAtCompileTime,OrderAtCompileTime> BasisDerivativeType;
00068       
00070       typedef Array<_Scalar,_Dim,Dynamic,ColMajor,_Dim,NumOfDerivativesAtCompileTime> DerivativeType;
00071     };
00072 
00074     typedef Spline<float,2> Spline2f;
00075     
00077     typedef Spline<float,3> Spline3f;
00078 
00080     typedef Spline<double,2> Spline2d;
00081     
00083     typedef Spline<double,3> Spline3d;
00084 }
00085 
00086 #endif // EIGEN_SPLINES_FWD_H


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:39:43