SplineFwd.hpp

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// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
//
// This Source Code Form is subject to the terms of the Mozilla
// Public License v. 2.0. If a copy of the MPL was not distributed
// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
#ifndef AIKIDO_COMMON_SPLINEFWD_HPP_
#define AIKIDO_COMMON_SPLINEFWD_HPP_
 
#include <Eigen/Core>
 
namespace aikido {
namespace common {
 
template <typename Scalar, int Dim, int Degree = Eigen::Dynamic>
class BSpline;
 
template <typename SplineType, int DerivativeOrder = Eigen::Dynamic>
struct SplineTraits
{
};
 
template <typename _Scalar, int _Dim, int _Degree>
struct SplineTraits<BSpline<_Scalar, _Dim, _Degree>, Eigen::Dynamic>
{
  typedef _Scalar Scalar; 
  enum
  {
    Dimension = _Dim 
  };
  enum
  {
    Degree = _Degree 
  };
 
  enum
  {
    OrderAtCompileTime
    = _Degree == Eigen::Dynamic
          ? Eigen::Dynamic
          : _Degree + 1 
  };
  enum
  {
    NumOfDerivativesAtCompileTime = OrderAtCompileTime 
  };
 
  enum
  {
    DerivativeMemoryLayout
    = Dimension == 1
          ? Eigen::RowMajor
          : Eigen::ColMajor 
  };
 
  typedef Eigen::Array<Scalar, 1, OrderAtCompileTime> BasisVectorType;
 
  typedef Eigen::Array<
      Scalar,
      Eigen::Dynamic,
      Eigen::Dynamic,
      Eigen::RowMajor,
      NumOfDerivativesAtCompileTime,
      OrderAtCompileTime>
      BasisDerivativeType;
 
  typedef Eigen::Array<
      Scalar,
      Dimension,
      Eigen::Dynamic,
      DerivativeMemoryLayout,
      Dimension,
      NumOfDerivativesAtCompileTime>
      DerivativeType;
 
  typedef Eigen::Array<Scalar, Dimension, 1> PointType;
 
  typedef Eigen::Array<Scalar, 1, Eigen::Dynamic> KnotVectorType;
 
  typedef Eigen::Array<Scalar, 1, Eigen::Dynamic> ParameterVectorType;
 
  typedef Eigen::Array<Scalar, Dimension, Eigen::Dynamic>
      ControlPointVectorType;
};
 
template <typename _Scalar, int _Dim, int _Degree, int _DerivativeOrder>
struct SplineTraits<BSpline<_Scalar, _Dim, _Degree>, _DerivativeOrder>
  : public SplineTraits<BSpline<_Scalar, _Dim, _Degree> >
{
  enum
  {
    OrderAtCompileTime
    = _Degree == Eigen::Dynamic
          ? Eigen::Dynamic
          : _Degree + 1 
  };
  enum
  {
    NumOfDerivativesAtCompileTime
    = _DerivativeOrder == Eigen::Dynamic
          ? Eigen::Dynamic
          : _DerivativeOrder + 1 
  };
 
  enum
  {
    DerivativeMemoryLayout
    = _Dim == 1 ? Eigen::RowMajor
                : Eigen::ColMajor 
  };
 
  typedef Eigen::Array<
      _Scalar,
      Eigen::Dynamic,
      Eigen::Dynamic,
      Eigen::RowMajor,
      NumOfDerivativesAtCompileTime,
      OrderAtCompileTime>
      BasisDerivativeType;
 
  typedef Eigen::Array<
      _Scalar,
      _Dim,
      Eigen::Dynamic,
      DerivativeMemoryLayout,
      _Dim,
      NumOfDerivativesAtCompileTime>
      DerivativeType;
};
 
typedef BSpline<float, 2> BSpline2f;
 
typedef BSpline<float, 3> BSpline3f;
 
typedef BSpline<double, 2> BSpline2d;
 
typedef BSpline<double, 3> BSpline3d;
 
} // namespace common
} // namespace aikido
 
#endif // AIKIDO_COMMON_SPLINEFWD_HPP_