spline_interpolator.H

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// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Suresh Golconda,

#ifndef CAJUN_SPLINE_INTERPOLATOR_H
#define CAJUN_SPLINE_INTERPOLATOR_H

#include "uniform_path.H"
#include "base_path_interpolator.H"
#include <vector>

namespace cajun
{
        class spline_interpolator_t: public base_path_interpolator_t
        {
        private:
                std::vector<waypoint_t> controlPoints;
                waypoint_t para_points[2];

                void get_para_points (int s_i);
        public:
                spline_interpolator_t ();
                void interpolate (path_data_t const &input_points,
                                      std::vector<waypoint_t> &splinepoints);
        };
}
#endif

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