hermite_unit.hpp

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#pragma once
 
#include <cstddef>
 
#include "hermite/base_interpol.hpp"
#include "hermite/hermite/constants.hpp"
#include "hermite/thirdparty/simplevectors.hpp"
 
namespace hermite {
using svector::Vector;
 
template <std::size_t D> class HermiteUnit : public BaseInterpol<D> {
public:
  HermiteUnit() = default;
 
  HermiteUnit(const Vector<D> p0, const Vector<D> p1, const Vector<D> v0,
              const Vector<D> v1)
      : m_p0{p0}, m_p1{p1}, m_v0{v0}, m_v1{v1} {}
 
  HermiteUnit(const HermiteUnit<D> &other)
      : m_p0{other.m_p0}, m_p1{other.m_p1}, m_v0{other.m_v0}, m_v1{other.m_v1} {
  }
 
  HermiteUnit<D> &operator=(const HermiteUnit<D> &other) {
    // check if assigning to self
    if (this == &other) {
      return *this;
    }
 
    m_p0 = other.m_p0;
    m_p1 = other.m_p1;
    m_v0 = other.m_v0;
    m_v1 = other.m_v1;
 
    return *this;
  }
 
  ~HermiteUnit() override = default;
 
  Vector<D> getPos(const double t) const override {
    Vector<D> res;
    res = m_p0 * h00(t) + m_v0 * h10(t) + m_p1 * h01(t) + m_v1 * h11(t);
    return res;
  }
 
  Vector<D> getVel(const double t) const override {
    Vector<D> res;
    res = m_p0 * h00d(t) + m_v0 * h10d(t) + m_p1 * h01d(t) + m_v1 * h11d(t);
    return res;
  }
 
  Vector<D> getAcc(const double t) const override {
    Vector<D> res;
    res = m_p0 * h00dd(t) + m_v0 * h10dd(t) + m_p1 * h01dd(t) + m_v1 * h11dd(t);
    return res;
  }
 
private:
  Vector<D> m_p0;
  Vector<D> m_p1;
  Vector<D> m_v0;
  Vector<D> m_v1;
};
} // namespace hermite