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282 lines
8.3 KiB
282 lines
8.3 KiB
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2010-2011 Hauke Heibel <heibel@gmail.com>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#include "main.h"
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#include <unsupported/Eigen/Splines>
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namespace Eigen {
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// lets do some explicit instantiations and thus
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// force the compilation of all spline functions...
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template class Spline<double, 2, Dynamic>;
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template class Spline<double, 3, Dynamic>;
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template class Spline<double, 2, 2>;
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template class Spline<double, 2, 3>;
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template class Spline<double, 2, 4>;
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template class Spline<double, 2, 5>;
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template class Spline<float, 2, Dynamic>;
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template class Spline<float, 3, Dynamic>;
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template class Spline<float, 3, 2>;
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template class Spline<float, 3, 3>;
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template class Spline<float, 3, 4>;
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template class Spline<float, 3, 5>;
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}
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Spline<double, 2, Dynamic> closed_spline2d()
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{
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RowVectorXd knots(12);
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knots << 0,
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0,
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0,
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0,
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0.867193179093898,
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1.660330955342408,
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2.605084834823134,
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3.484154586374428,
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4.252699478956276,
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4.252699478956276,
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4.252699478956276,
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4.252699478956276;
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MatrixXd ctrls(8,2);
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ctrls << -0.370967741935484, 0.236842105263158,
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-0.231401860693277, 0.442245185027632,
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0.344361228532831, 0.773369994120753,
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0.828990216203802, 0.106550882647595,
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0.407270163678382, -1.043452922172848,
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-0.488467813584053, -0.390098582530090,
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-0.494657189446427, 0.054804824897884,
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-0.370967741935484, 0.236842105263158;
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ctrls.transposeInPlace();
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return Spline<double, 2, Dynamic>(knots, ctrls);
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}
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/* create a reference spline */
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Spline<double, 3, Dynamic> spline3d()
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{
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RowVectorXd knots(11);
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knots << 0,
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0,
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0,
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0.118997681558377,
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0.162611735194631,
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0.498364051982143,
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0.655098003973841,
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0.679702676853675,
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1.000000000000000,
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1.000000000000000,
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1.000000000000000;
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MatrixXd ctrls(8,3);
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ctrls << 0.959743958516081, 0.340385726666133, 0.585267750979777,
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0.223811939491137, 0.751267059305653, 0.255095115459269,
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0.505957051665142, 0.699076722656686, 0.890903252535799,
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0.959291425205444, 0.547215529963803, 0.138624442828679,
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0.149294005559057, 0.257508254123736, 0.840717255983663,
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0.254282178971531, 0.814284826068816, 0.243524968724989,
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0.929263623187228, 0.349983765984809, 0.196595250431208,
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0.251083857976031, 0.616044676146639, 0.473288848902729;
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ctrls.transposeInPlace();
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return Spline<double, 3, Dynamic>(knots, ctrls);
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}
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/* compares evaluations against known results */
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void eval_spline3d()
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{
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Spline3d spline = spline3d();
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RowVectorXd u(10);
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u << 0.351659507062997,
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0.830828627896291,
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0.585264091152724,
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0.549723608291140,
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0.917193663829810,
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0.285839018820374,
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0.757200229110721,
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0.753729094278495,
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0.380445846975357,
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0.567821640725221;
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MatrixXd pts(10,3);
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pts << 0.707620811535916, 0.510258911240815, 0.417485437023409,
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0.603422256426978, 0.529498282727551, 0.270351549348981,
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0.228364197569334, 0.423745615677815, 0.637687289287490,
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0.275556796335168, 0.350856706427970, 0.684295784598905,
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0.514519311047655, 0.525077224890754, 0.351628308305896,
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0.724152914315666, 0.574461155457304, 0.469860285484058,
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0.529365063753288, 0.613328702656816, 0.237837040141739,
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0.522469395136878, 0.619099658652895, 0.237139665242069,
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0.677357023849552, 0.480655768435853, 0.422227610314397,
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0.247046593173758, 0.380604672404750, 0.670065791405019;
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pts.transposeInPlace();
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for (int i=0; i<u.size(); ++i)
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{
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Vector3d pt = spline(u(i));
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VERIFY( (pt - pts.col(i)).norm() < 1e-14 );
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}
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}
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/* compares evaluations on corner cases */
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void eval_spline3d_onbrks()
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{
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Spline3d spline = spline3d();
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RowVectorXd u = spline.knots();
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MatrixXd pts(11,3);
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pts << 0.959743958516081, 0.340385726666133, 0.585267750979777,
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0.959743958516081, 0.340385726666133, 0.585267750979777,
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0.959743958516081, 0.340385726666133, 0.585267750979777,
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0.430282980289940, 0.713074680056118, 0.720373307943349,
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0.558074875553060, 0.681617921034459, 0.804417124839942,
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0.407076008291750, 0.349707710518163, 0.617275937419545,
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0.240037008286602, 0.738739390398014, 0.324554153129411,
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0.302434111480572, 0.781162443963899, 0.240177089094644,
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0.251083857976031, 0.616044676146639, 0.473288848902729,
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0.251083857976031, 0.616044676146639, 0.473288848902729,
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0.251083857976031, 0.616044676146639, 0.473288848902729;
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pts.transposeInPlace();
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for (int i=0; i<u.size(); ++i)
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{
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Vector3d pt = spline(u(i));
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VERIFY( (pt - pts.col(i)).norm() < 1e-14 );
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}
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}
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void eval_closed_spline2d()
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{
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Spline2d spline = closed_spline2d();
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RowVectorXd u(12);
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u << 0,
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0.332457030395796,
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0.356467130532952,
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0.453562180176215,
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0.648017921874804,
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0.973770235555003,
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1.882577647219307,
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2.289408593930498,
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3.511951429883045,
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3.884149321369450,
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4.236261590369414,
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4.252699478956276;
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MatrixXd pts(12,2);
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pts << -0.370967741935484, 0.236842105263158,
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-0.152576775123250, 0.448975001279334,
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-0.133417538277668, 0.461615613865667,
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-0.053199060826740, 0.507630360006299,
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0.114249591147281, 0.570414135097409,
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0.377810316891987, 0.560497102875315,
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0.665052120135908, -0.157557441109611,
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0.516006487053228, -0.559763292174825,
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-0.379486035348887, -0.331959640488223,
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-0.462034726249078, -0.039105670080824,
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-0.378730600917982, 0.225127015099919,
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-0.370967741935484, 0.236842105263158;
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pts.transposeInPlace();
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for (int i=0; i<u.size(); ++i)
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{
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Vector2d pt = spline(u(i));
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VERIFY( (pt - pts.col(i)).norm() < 1e-14 );
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}
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}
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void check_global_interpolation2d()
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{
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typedef Spline2d::PointType PointType;
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typedef Spline2d::KnotVectorType KnotVectorType;
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typedef Spline2d::ControlPointVectorType ControlPointVectorType;
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ControlPointVectorType points = ControlPointVectorType::Random(2,100);
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KnotVectorType chord_lengths; // knot parameters
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Eigen::ChordLengths(points, chord_lengths);
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// interpolation without knot parameters
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{
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const Spline2d spline = SplineFitting<Spline2d>::Interpolate(points,3);
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for (Eigen::DenseIndex i=0; i<points.cols(); ++i)
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{
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PointType pt = spline( chord_lengths(i) );
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PointType ref = points.col(i);
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VERIFY( (pt - ref).matrix().norm() < 1e-14 );
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}
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}
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// interpolation with given knot parameters
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{
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const Spline2d spline = SplineFitting<Spline2d>::Interpolate(points,3,chord_lengths);
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for (Eigen::DenseIndex i=0; i<points.cols(); ++i)
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{
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PointType pt = spline( chord_lengths(i) );
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PointType ref = points.col(i);
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VERIFY( (pt - ref).matrix().norm() < 1e-14 );
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}
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}
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}
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void check_global_interpolation_with_derivatives2d()
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{
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typedef Spline2d::PointType PointType;
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typedef Spline2d::KnotVectorType KnotVectorType;
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const Eigen::DenseIndex numPoints = 100;
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const unsigned int dimension = 2;
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const unsigned int degree = 3;
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ArrayXXd points = ArrayXXd::Random(dimension, numPoints);
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KnotVectorType knots;
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Eigen::ChordLengths(points, knots);
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ArrayXXd derivatives = ArrayXXd::Random(dimension, numPoints);
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VectorXd derivativeIndices(numPoints);
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for (Eigen::DenseIndex i = 0; i < numPoints; ++i)
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derivativeIndices(i) = static_cast<double>(i);
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const Spline2d spline = SplineFitting<Spline2d>::InterpolateWithDerivatives(
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points, derivatives, derivativeIndices, degree);
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for (Eigen::DenseIndex i = 0; i < points.cols(); ++i)
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{
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PointType point = spline(knots(i));
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PointType referencePoint = points.col(i);
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VERIFY_IS_APPROX(point, referencePoint);
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PointType derivative = spline.derivatives(knots(i), 1).col(1);
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PointType referenceDerivative = derivatives.col(i);
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VERIFY_IS_APPROX(derivative, referenceDerivative);
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}
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}
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void test_splines()
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{
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for (int i = 0; i < g_repeat; ++i)
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{
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CALL_SUBTEST( eval_spline3d() );
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CALL_SUBTEST( eval_spline3d_onbrks() );
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CALL_SUBTEST( eval_closed_spline2d() );
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CALL_SUBTEST( check_global_interpolation2d() );
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CALL_SUBTEST( check_global_interpolation_with_derivatives2d() );
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}
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}
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