gvf_parametric_2d_bezier_splines.h

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/*
 * Copyright (C) 2023 Alfredo Gonzalez Calvin <alfredgo@ucm.es>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef GVF_PARAMETRIC_2D_BEZIER_SPLINES_H
#define GVF_PARAMETRIC_2D_BEZIER_SPLINES_H
 
 
// Define only one segment by default
#ifndef GVF_PARAMETRIC_2D_BEZIER_N_SEG
#define GVF_PARAMETRIC_2D_BEZIER_N_SEG 1
#endif
 
 
#ifdef __cplusplus
extern "C" {
#endif
 
 
typedef struct {
  float kx;
  float ky;
} gvf_par_2d_bezier_par;
 
 
// Cubic bezier
typedef struct {
  float p0[2];
  float p1[2];
  float p2[2];
  float p3[2];
} bezier_t;
 
 
extern gvf_par_2d_bezier_par gvf_parametric_2d_bezier_par;
 
extern void create_bezier_spline(bezier_t *bezier, float *px, float *py);
extern void gvf_parametric_2d_bezier_splines_info(bezier_t *bezier, float *f1, float *f2, float *f1d, float *f2d,
    float *f1dd, float *f2dd);
 
#ifdef __cplusplus
}
#endif
 
 
 
 
 
#endif // bezier splines