org.robokind.api.interpolation.cspline
Class CSplineInterpolator

java.lang.Object
  org.robokind.api.interpolation.cspline.CSplineInterpolator

All Implemented Interfaces:

Interpolator

public class CSplineInterpolator
extends Object
implements Interpolator

Implementation of a Catmull-Rom Cardinal Spline using reflected endpoints. A Cardinal Spline represents the natural curve of a rope under tension. A Catmull-Rom Spline is a Cardinal spline with a fixed tension of T=0.5. The standard c-spline has hidden endpoints which influence the curvature of the first and last segment. Instead of having them user defined, the reflected endpoints method is used. Hidden points as reflections around the first and last point are added as a simple heuristic for good continuity.

Author:

Matthew Stevenson

Field Summary

static VersionProperty	VERSION Interpolator VersionProperty.
static String	VERSION_NAME Interpolator version name.
static String	VERSION_NUMBER Interpolator version number.

Constructor Summary

CSplineInterpolator()
Creates an empty CSplineInterpolator.

Method Summary

Point2D	addPoint(double x, double y) Adds a new Point with the given x and y value.
void	addPoints(int i, List<Point2D> points) Adds a List of Point at the given index.
void	addPoints(List<Point2D> points) Adds a List of Points.
void	clear() Clears all the Points from the Interpolator.
List<Point2D>	getControlPoints() Returns a list of the Interpolator's points.
List<Point2D>	getInterpolatedPoints() Returns a List of Points interpolated from the Interpolator's control points.
VersionProperty	getInterpolatorVersion() Return the Interpolator's VersionProperty.
Point2D	insertPoint(int i, double x, double y) Adds a new point at the given index.
boolean	interpolationChanged() Returns true if the List of interpolated Points has changed since last being requested and needs to be recalculated.
Point2D	removePoint(int i) Remove the Point at the given index.
void	removePoint(Point2D p) Removes the given Point from the Interpolator.
Point2D	setPoint(int i, double x, double y) Sets the x and y values of the Point at the given index.
boolean	touchesControlPoints()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

VERSION_NAME

public static final String VERSION_NAME

Interpolator version name.

See Also:

Constant Field Values

VERSION_NUMBER

public static final String VERSION_NUMBER

Interpolator version number.

See Also:

Constant Field Values

VERSION

public static final VersionProperty VERSION

Interpolator VersionProperty.

Constructor Detail

CSplineInterpolator

public CSplineInterpolator()

Creates an empty CSplineInterpolator.

Method Detail

addPoint

public Point2D addPoint(double x,
                        double y)

Description copied from interface: Interpolator

Adds a new Point with the given x and y value.

Specified by:

addPoint in interface Interpolator

Parameters:

x - x-value to add

y - y-value to add

Returns:

the Point which was added

insertPoint

public Point2D insertPoint(int i,
                           double x,
                           double y)

Description copied from interface: Interpolator

Adds a new point at the given index.

Specified by:

insertPoint in interface Interpolator

Parameters:

i - index for where to add the new Point

x - x-value to add

y - y-value to add

Returns:

the Point which was added

addPoints

public void addPoints(List<Point2D> points)

Description copied from interface: Interpolator

Adds a List of Points.

Specified by:

addPoints in interface Interpolator

Parameters:

points - List of Points to add

addPoints

public void addPoints(int i,
                      List<Point2D> points)

Description copied from interface: Interpolator

Adds a List of Point at the given index.

Specified by:

addPoints in interface Interpolator

Parameters:

i - index for where to add the Points

points - List of Points to add

setPoint

public Point2D setPoint(int i,
                        double x,
                        double y)

Description copied from interface: Interpolator

Sets the x and y values of the Point at the given index.

Specified by:

setPoint in interface Interpolator

Parameters:

i - index of the point to set

x - x-value to set

y - y-value to set

Returns:

the Point after being set

removePoint

public void removePoint(Point2D p)

Description copied from interface: Interpolator

Removes the given Point from the Interpolator.

Specified by:

removePoint in interface Interpolator

Parameters:

p - the Point to remove

removePoint

public Point2D removePoint(int i)

Description copied from interface: Interpolator

Remove the Point at the given index.

Specified by:

removePoint in interface Interpolator

Parameters:

i - index of the Point to remove

Returns:

the Point removed

getControlPoints

public List<Point2D> getControlPoints()

Description copied from interface: Interpolator

Returns a list of the Interpolator's points.

Specified by:

getControlPoints in interface Interpolator

Returns:

list of the Interpolator's points

getInterpolatedPoints

public List<Point2D> getInterpolatedPoints()

Description copied from interface: Interpolator

Returns a List of Points interpolated from the Interpolator's control points.

Specified by:

getInterpolatedPoints in interface Interpolator

Returns:

List of Points interpolated from the Interpolator's control points

interpolationChanged

public boolean interpolationChanged()

Description copied from interface: Interpolator

Returns true if the List of interpolated Points has changed since last being requested and needs to be recalculated.

Specified by:

interpolationChanged in interface Interpolator

Returns:

true if the List of interpolated Points has changed since last being requested and needs to be recalculated

clear

public void clear()

Description copied from interface: Interpolator

Clears all the Points from the Interpolator.

Specified by:

clear in interface Interpolator

getInterpolatorVersion

public VersionProperty getInterpolatorVersion()

Description copied from interface: Interpolator

Return the Interpolator's VersionProperty. Used to specify an Interpolator type when serializing and de-serializing an Interpolator.

Specified by:

getInterpolatorVersion in interface Interpolator

Returns:

Interpolator's VersionProperty

touchesControlPoints

public boolean touchesControlPoints()

Specified by:

touchesControlPoints in interface Interpolator