cubic_hermite()

MAYAFLUX_API Eigen::VectorXd MayaFlux::Kinesis::cubic_hermite	(	const Eigen::MatrixXd &	endpoints,
		const Eigen::MatrixXd &	tangents,
		double	t
	)

Cubic Hermite interpolation using Eigen matrices.

Parameters

endpoints	2xN matrix (start, end)
tangents	2xN matrix (tangent_start, tangent_end)
t	Parameter in [0,1]

Returns

Interpolated point as Nx1 vector

Definition at line 341 of file MotionCurves.cpp.

{
    if (endpoints.cols() != 2 || tangents.cols() != 2) {
        error<std::invalid_argument>(
            Journal::Component::Kinesis,
            Journal::Context::Runtime,
            std::source_location::current(),
            "Cubic Hermite interpolation requires 2 endpoints and 2 tangents, but got {} endpoints and {} tangents",
            endpoints.cols(), tangents.cols());
    }
 
    double t2 = t * t;
    double t3 = t2 * t;
 
    double h00 = 2.0 * t3 - 3.0 * t2 + 1.0;
    double h10 = t3 - 2.0 * t2 + t;
    double h01 = -2.0 * t3 + 3.0 * t2;
    double h11 = t3 - t2;
 
    return h00 * endpoints.col(0) + h10 * tangents.col(0) + h01 * endpoints.col(1) + h11 * tangents.col(1);
}

References MayaFlux::Journal::Kinesis, and MayaFlux::Journal::Runtime.

Referenced by interpolate().

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