cubic_bezier_spline2d.h

#pragma once
 
#include "software/geom/bezier_curve2d.h"
#include "software/geom/spline2d.h"
 
class CubicBezierSpline2d : public Spline2d
{
   public:
    CubicBezierSpline2d() = delete;
 
    explicit CubicBezierSpline2d(const Point& start_point, const Vector& start_vector,
                                 const Point& end_point, const Vector& end_vector,
                                 const std::vector<Point>& intermediate_knots);
 
    const Point getValueAt(double t) const override;
    const std::vector<Point> getKnots() const override;
    size_t getNumKnots() const override;
    std::vector<double> getKnotParametrizationValues() const override;
    const Point getStartPoint() const override;
    const Point getEndPoint() const override;
    const std::vector<SplineSegment2d> getSplineSegments() const override;
 
    const std::vector<Point>& getControlPoints() const;
 
    size_t getNumSegments() const;
 
 
   private:
    // The degree of the bezier curves that make up this spline
    static const size_t BEZIER_CURVE_DEGREE = 3;
 
    BezierCurve2d getSegmentAtIndex(size_t index) const;
 
    std::vector<Point> computeControlPoints(const Point& start_point,
                                            const Vector& start_vector,
                                            const Point& end_point,
                                            const Vector& end_vector,
                                            const std::vector<Point>& intermediate_knots);
 
    // The control points that are the implicit representation of the bezier curves that
    // form this splines.
    // 0th-3rd (inclusive) points are the control points of the first bezier curve
    // 3rd-6th (inclusive) points are the control points of the second bezier curve
    // etc.
    std::vector<Point> control_points;
};