bezier_curve2d.h

#pragma once
 
#include <vector>
 
#include "software/geom/point.h"
#include "software/geom/spline2d.h"
 
class BezierCurve2d
{
   public:
    BezierCurve2d() = delete;
 
    explicit BezierCurve2d(std::vector<Point> control_points);
 
    const Point getValueAt(double t) const;
 
    Polynomial2d getPolynomial() const;
 
    bool operator==(const BezierCurve2d& other) const;
 
   private:
    /*
     * Evaluate the point `t` on the bezier curve with control points `points`
     *
     * Implementation of the De Casteljau algorithm:
     * https://en.wikipedia.org/wiki/De_Casteljau%27s_algorithm
     * Assumes the curve is parameterized such that `t=0` is the first point, and
     * `t=1` is the last point.
     *
     * @param points The control points of the bezier curve
     * @param t The value at which to evaluate the bezier curve
     *
     * @throw std::invalid_arguments If `points` is empty
     *
     * @return The point on the bezier curve corresponding to the value `t`
     */
    static const Point deCasteljauAlgorithm(const std::vector<Point>& points,
                                            const double t);
 
    const Vector computePolynomialCoefficients(const size_t order_of_coefficients) const;
 
    // The control points for this bezier curve
    const std::vector<Point> control_points;
};