SplineInterpolate.h

#ifndef INTERPOLATE_CUBIC_SPLINES_H
#define INTERPOLATE_CUBIC_SPLINES_H

#include <KrisLibrary/planning/GeneralizedBezierCurve.h>
#include <KrisLibrary/math/misc.h>
#include <vector>
using namespace Math;
using namespace std;


void SplineInterpolate(const vector<Vector>& pts,
                       vector<GeneralizedCubicBezierCurve>& paths,
                       CSpace* space=NULL,GeodesicSpace* manifold=NULL);
void SplineInterpolate(const vector<Vector>& pts,
                       GeneralizedCubicBezierSpline& path,
                       CSpace* space=NULL,GeodesicSpace* manifold=NULL,
                       Real coxDeBoorParameter=0);
void SplineInterpolate(const vector<Vector>& pts,const vector<Real>& times,
                       vector<GeneralizedCubicBezierCurve>& paths,
                       CSpace* space=NULL,GeodesicSpace* manifold=NULL);
void SplineInterpolate(const vector<Vector>& pts,const vector<Real>& times,
                       GeneralizedCubicBezierSpline& path,
                       CSpace* space=NULL,GeodesicSpace* manifold=NULL);
void MonotonicInterpolate(const vector<Vector>& pts,
                          vector<GeneralizedCubicBezierCurve>& paths,
                          CSpace* space=NULL,GeodesicSpace* manifold=NULL);
void MonotonicInterpolate(const vector<Vector>& pts,
                          GeneralizedCubicBezierSpline& path,
                          CSpace* space=NULL,GeodesicSpace* manifold=NULL,
                          Real coxDeBoorParameter=0);
void MonotonicInterpolate(const vector<Vector>& pts,const vector<Real>& times,
                          vector<GeneralizedCubicBezierCurve>& paths,
                          CSpace* space=NULL,GeodesicSpace* manifold=NULL);
void MonotonicInterpolate(const vector<Vector>& pts,const vector<Real>& times,
                          GeneralizedCubicBezierSpline& path,
                          CSpace* space=NULL,GeodesicSpace* manifold=NULL);
void MonotonicAccelInterpolate(const vector<Vector>& pts,
                          vector<GeneralizedCubicBezierCurve>& paths,
                          CSpace* space=NULL,GeodesicSpace* manifold=NULL);
#endif