compute_arc_length_table()

MAYAFLUX_API Eigen::VectorXd MayaFlux::Kinesis::compute_arc_length_table

(

const Eigen::MatrixXd &

points

)

Compute arc length parameterization table.

Parameters

points

Columns are sequential points along curve

Returns

Vector of cumulative arc lengths

Definition at line 901 of file MotionCurves.cpp.

{
    const Eigen::Index n = points.cols();
 
    Eigen::VectorXd arc_lengths(n);
    if (n == 0) {
        return arc_lengths;
    }
 
    arc_lengths(0) = 0.0;
    if (n == 1) {
        return arc_lengths;
    }
 
    if (n >= k_parallel_min_points) {
        P::for_each(P::par_unseq,
            std::views::iota(Eigen::Index { 1 }, n).begin(),
            std::views::iota(Eigen::Index { 1 }, n).end(),
            [&](Eigen::Index i) {
                arc_lengths(i) = (points.col(i) - points.col(i - 1)).norm();
            });
    } else {
        for (Eigen::Index i = 1; i < n; ++i) {
            arc_lengths(i) = (points.col(i) - points.col(i - 1)).norm();
        }
    }
 
    std::inclusive_scan(
        arc_lengths.data() + 1,
        arc_lengths.data() + n,
        arc_lengths.data() + 1);
 
    return arc_lengths;
}

References compute_arc_length_table(), and points.

Referenced by compute_arc_length_table().

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