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/********************************************************************
* Description: cubic.h
* Cubic polynomial interpolation code
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#ifndef CUBIC_H
#define CUBIC_H
/*
Coefficients of a cubic polynomial,
a * x^3 + b * x^2 + c * x + d
*/
typedef struct {
double a;
double b;
double c;
double d;
} CUBIC_COEFF;
typedef struct {
int configured;
double segmentTime;
int interpolationRate;
double interpolationTime;
double interpolationIncrement;
double x0, x1, x2, x3;
double wp0, wp1;
double velp0, velp1;
int filled;
int needNextPoint;
CUBIC_COEFF coeff;
} CUBIC_STRUCT;
extern int cubicInit(CUBIC_STRUCT * ci);
extern int cubicSetSegmentTime(CUBIC_STRUCT * ci, double time);
extern double cubicGetSegmentTime(CUBIC_STRUCT * ci);
extern int cubicSetInterpolationRate(CUBIC_STRUCT * ci, int rate);
extern int cubicGetInterpolationRate(CUBIC_STRUCT * ci);
extern int cubicAddPoint(CUBIC_STRUCT * ci, double point);
extern int cubicOffset(CUBIC_STRUCT * ci, double offset);
extern double cubicGetInterpolationIncrement(CUBIC_STRUCT * ci);
extern CUBIC_COEFF cubicGetCubicCoeff(CUBIC_STRUCT * ci);
extern int cubicFilled(CUBIC_STRUCT * ci);
extern double cubicInterpolate(CUBIC_STRUCT * ci, double *x, /* same as
return val
*/
double *v, /* velocity */
double *a, /* accel */
double *j); /* jerk */
extern int cubicNeedNextPoint(CUBIC_STRUCT * ci);
extern int cubicDrain(CUBIC_STRUCT * ci);
#endif /* CUBIC_H */
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