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Jeff 2014-06-23 20:24:31 -06:00
commit f9496d341f
2 changed files with 55 additions and 55 deletions
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82
unsupported/Eigen/src/Splines/SplineFitting.h
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@ -76,9 +76,9 @@ namespace Eigen
**/
template <typename KnotVectorType, typename ParameterVectorType>
void KnotAveragingWithDerivatives(const ParameterVectorType& parameters,
const unsigned int degree,
const IndexArray& derivativeIndices,
KnotVectorType& knots)
const unsigned int degree,
const IndexArray& derivativeIndices,
KnotVectorType& knots)
{
typedef typename ParameterVectorType::Scalar Scalar;
@ -137,35 +137,35 @@ namespace Eigen
int temporaryParameterIndex = 1;
for (int j = 0; j < numParameters; ++j)
{
Scalar parameter = parameters[j];
if (parameter >= averageKnots[i] && parameter < averageKnots[i + 1])
{
parameterIndices[temporaryParameterIndex] = j;
temporaryParameters[temporaryParameterIndex++] = parameter;
}
Scalar parameter = parameters[j];
if (parameter >= averageKnots[i] && parameter < averageKnots[i + 1])
{
parameterIndices[temporaryParameterIndex] = j;
temporaryParameters[temporaryParameterIndex++] = parameter;
}
}
temporaryParameters[temporaryParameterIndex] = averageKnots[i + 1];
for (int j = 0; j <= temporaryParameterIndex - 2; ++j)
{
for (DenseIndex k = 0; k < derivativeIndices.size(); ++k)
{
if (parameterIndices[j + 1] == derivativeIndices[k]
&& parameterIndices[j + 1] != 0
&& parameterIndices[j + 1] != numParameters - 1)
{
derivativeKnots[++newKnotIndex] = temporaryParameters.segment(j, 3).mean();
break;
}
}
for (DenseIndex k = 0; k < derivativeIndices.size(); ++k)
{
if (parameterIndices[j + 1] == derivativeIndices[k]
&& parameterIndices[j + 1] != 0
&& parameterIndices[j + 1] != numParameters - 1)
{
derivativeKnots[++newKnotIndex] = temporaryParameters.segment(j, 3).mean();
break;
}
}
}
}
KnotVectorType temporaryKnots(averageKnots.size() + derivativeKnots.size());
std::merge(averageKnots.data(), averageKnots.data() + averageKnots.size(),
derivativeKnots.data(), derivativeKnots.data() + derivativeKnots.size(),
temporaryKnots.data());
derivativeKnots.data(), derivativeKnots.data() + derivativeKnots.size(),
temporaryKnots.data());
// Number of control points (one for each point and derivative) plus spline order.
DenseIndex numKnots = numParameters + numDerivatives + degree + 1;
@ -257,9 +257,9 @@ namespace Eigen
**/
template <typename PointArrayType>
static SplineType InterpolateWithDerivatives(const PointArrayType& points,
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree);
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree);
/**
* \brief Fits an interpolating spline to the given data points and derivatives.
@ -279,10 +279,10 @@ namespace Eigen
*/
template <typename PointArrayType>
static SplineType InterpolateWithDerivatives(const PointArrayType& points,
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree,
const ParameterVectorType& parameters);
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree,
const ParameterVectorType& parameters);
};
template <typename SplineType>
@ -330,10 +330,10 @@ namespace Eigen
template <typename PointArrayType>
SplineType
SplineFitting<SplineType>::InterpolateWithDerivatives(const PointArrayType& points,
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree,
const ParameterVectorType& parameters)
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree,
const ParameterVectorType& parameters)
{
typedef typename SplineType::KnotVectorType::Scalar Scalar;
typedef typename SplineType::ControlPointVectorType ControlPointVectorType;
@ -387,16 +387,16 @@ namespace Eigen
if (derivativeIndices[derivativeIndex] == i)
{
A.block(row, span - degree, 2, degree + 1)
= SplineType::BasisFunctionDerivatives(parameters[i], 1, degree, knots);
A.block(row, span - degree, 2, degree + 1)
= SplineType::BasisFunctionDerivatives(parameters[i], 1, degree, knots);
b.col(row++) = points.col(i);
b.col(row++) = derivatives.col(derivativeIndex++);
b.col(row++) = points.col(i);
b.col(row++) = derivatives.col(derivativeIndex++);
}
else
{
A.row(row++).segment(span - degree, degree + 1)
= SplineType::BasisFunctions(parameters[i], degree, knots);
A.row(row++).segment(span - degree, degree + 1)
= SplineType::BasisFunctions(parameters[i], degree, knots);
}
}
b.col(0) = points.col(0);
@ -417,9 +417,9 @@ namespace Eigen
template <typename PointArrayType>
SplineType
SplineFitting<SplineType>::InterpolateWithDerivatives(const PointArrayType& points,
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree)
const PointArrayType& derivatives,
const IndexArray& derivativeIndices,
const unsigned int degree)
{
ParameterVectorType parameters;
ChordLengths(points, parameters);

28
unsupported/test/splines.cpp
View File

@ -13,23 +13,23 @@
namespace Eigen {
// lets do some explicit instantiations and thus
// force the compilation of all spline functions...
template class Spline<double, 2, Dynamic>;
template class Spline<double, 3, Dynamic>;
// lets do some explicit instantiations and thus
// force the compilation of all spline functions...
template class Spline<double, 2, Dynamic>;
template class Spline<double, 3, Dynamic>;
template class Spline<double, 2, 2>;
template class Spline<double, 2, 3>;
template class Spline<double, 2, 4>;
template class Spline<double, 2, 5>;
template class Spline<double, 2, 2>;
template class Spline<double, 2, 3>;
template class Spline<double, 2, 4>;
template class Spline<double, 2, 5>;
template class Spline<float, 2, Dynamic>;
template class Spline<float, 3, Dynamic>;
template class Spline<float, 2, Dynamic>;
template class Spline<float, 3, Dynamic>;
template class Spline<float, 3, 2>;
template class Spline<float, 3, 3>;
template class Spline<float, 3, 4>;
template class Spline<float, 3, 5>;
template class Spline<float, 3, 2>;
template class Spline<float, 3, 3>;
template class Spline<float, 3, 4>;
template class Spline<float, 3, 5>;
}