catmull_rom_spline()

Eigen::VectorXd MayaFlux::Kinesis::catmull_rom_spline	(	const Eigen::MatrixXd &	control_points,
		double	t,
		double	tension = 0.5
	)

Catmull-Rom spline interpolation using Eigen matrices.

Parameters

control_points	4xN matrix where columns are control points (p0, p1, p2, p3)
t	Parameter in [0,1]
tension	Tension parameter (default 0.5)

Returns

Interpolated point as Nx1 vector

Definition at line 159 of file MotionCurves.cpp.

{
    if (control_points.cols() != 4) {
        error<std::invalid_argument>(
            Journal::Component::Kinesis,
            Journal::Context::Runtime,
            std::source_location::current(),
            "Catmull-Rom interpolation requires 4 control points, but got {}",
            control_points.cols());
    }
 
    Eigen::Matrix4d basis_matrix = BasisMatrices::catmull_rom_with_tension(tension);
    Eigen::Vector4d t_vector(t * t * t, t * t, t, 1.0);
    Eigen::Vector4d coeffs = basis_matrix * t_vector;
 
    return control_points * coeffs;
}

References MayaFlux::Kinesis::BasisMatrices::catmull_rom_with_tension(), MayaFlux::Journal::Kinesis, and MayaFlux::Journal::Runtime.

Referenced by interpolate().

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