A Bezier spline with segment durations. More...

Public Member Functions
int	ParamToSegment (Real u, Real *segparam=NULL) const

int	Eval (Real u, Vector &x) const

int	Deriv (Real u, Vector &dx) const

int	Accel (Real u, Vector &ddx) const

Real	TotalTime () const

const Config &	Start () const

const Config &	End () const

void	Append (const GeneralizedCubicBezierCurve &seg, Real duration)

void	Concat (const GeneralizedCubicBezierSpline &s)

void	TimeScale (Real scale)

void	GetPiecewiseLinear (std::vector< Real > &times, std::vector< Config > &milestones) const

void	Bisect ()

void	Bisect (int seg, Real u=0.5)

bool	Save (std::ostream &out) const

bool	Load (std::istream &in)

Public Attributes
std::vector< GeneralizedCubicBezierCurve >	segments

std::vector< Real >	durations

Detailed Description

A Bezier spline with segment durations.

The documentation for this class was generated from the following files:

Public Member Functions