spline.h

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#ifndef TOWR_VARIABLES_SPLINE_H_
#define TOWR_VARIABLES_SPLINE_H_

#include <vector>

#include "polynomial.h"

namespace towr {

class Spline  {
public:
  using VecTimes = std::vector<double>;
  using VecPoly  = std::vector<CubicHermitePolynomial>;

  Spline(const VecTimes& poly_durations, int n_dim);
  virtual ~Spline () = default;

  const State GetPoint(double t) const;

  const State GetPoint(int poly_id, double t_local) const;

  static int GetSegmentID(double t_global, const VecTimes& durations);

  double GetTotalTime() const;

  int GetPolynomialCount() const;

  VecTimes GetPolyDurations() const;

protected:
  VecPoly cubic_polys_; 

  std::pair<int,double> GetLocalTime(double t_global, const VecTimes& d) const;

  void UpdatePolynomialCoeff();
};

} /* namespace towr */

#endif /* TOWR_VARIABLES_SPLINE_H_ */