base_spline.hpp

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#pragma once
 
#include <cstddef>
 
#include "hermite/base_interpol.hpp"
#include "hermite/thirdparty/simplevectors.hpp"
 
namespace hermite {
using svector::Vector;
 
template <std::size_t D> class BaseSpline : public BaseInterpol<D> {
public:
  virtual ~BaseSpline() = default;
 
  virtual double getLowestTime() const = 0;
 
  virtual double getHighestTime() const = 0;
 
  virtual Vector<D> getPos(const double t) const = 0;
 
  virtual Vector<D> getVel(const double t) const = 0;
 
  virtual Vector<D> getAcc(const double t) const = 0;
 
  double getMaxDistance(const double timeStep) const {
    double res = 0.0;
    double time = getLowestTime();
    const double timeEnd = getHighestTime();
 
    while (time <= timeEnd) {
      auto pos = getPos(time);
      double dist = magn(pos);
      res = std::max(res, dist);
 
      time += timeStep;
    }
 
    return res;
  }
 
  double getMaxSpeed(const double timeStep) const {
    double res = 0.0;
    double time = getLowestTime();
    const double timeEnd = getHighestTime();
 
    while (time <= timeEnd) {
      auto vel = getVel(time);
      double dist = magn(vel);
      res = std::max(res, dist);
 
      time += timeStep;
    }
 
    return res;
  }
 
  double getMaxAcceleration(const double timeStep) const {
    double res = 0.0;
    double time = getLowestTime();
    const double timeEnd = getHighestTime();
 
    while (time <= timeEnd) {
      auto acc = getAcc(time);
      double dist = magn(acc);
      res = std::max(res, dist);
 
      time += timeStep;
    }
 
    return res;
  }
 
  virtual double getLength(const double timeStep) const = 0;
};
} // namespace hermite