DIRECTORY G2dBasic, Rope;

G2dSpline: CEDAR DEFINITIONS
~ BEGIN
Pair:						TYPE ~ G2dBasic.Pair;

RealSequence:			TYPE ~ G2dBasic.RealSequence;
PairSequence:			TYPE ~ G2dBasic.PairSequence;

Spline1d:					TYPE ~ REF Spline1dRep;
Spline1dRep:				TYPE ~ ARRAY [0..4) OF REAL;

Spline1dSequence:		TYPE ~ REF Spline1dSequenceRep;
Spline1dSequenceRep:	TYPE ~ RECORD [
length:							CARDINAL м 0,
element:							SEQUENCE maxLength: CARDINAL OF Spline1d
];

Spline2d:					TYPE ~ REF Spline2dRep;
Spline2dRep:				TYPE ~ ARRAY [0..4) OF Pair;

Spline2dSequence:		TYPE ~ REF Spline2dSequenceRep;
Spline2dSequenceRep:	TYPE ~ RECORD [
length:							CARDINAL м 0,
element:							SEQUENCE maxLength: CARDINAL OF Spline2d
];

NearSpline:				TYPE ~ RECORD [
point:								Pair м [0.0, 0.0],			-- point on 2d spline
t:									REAL м 0.0,				-- parametric position
distance:							REAL м 0.0				-- distance to spline
];

Error: ERROR [reason: Rope.ROPE];
Interpolate1d: PROC [
knots: RealSequence,
spline: Spline1dSequence м NIL,
noOvershoot: BOOL м FALSE]
RETURNS [Spline1dSequence];
Interpolate2d: PROC [
knots: PairSequence,
spline: Spline2dSequence м NIL]
RETURNS [Spline2dSequence];
Position1d: PROC [spline: Spline1d, t: REAL] RETURNS [REAL];
Velocity1d: PROC [spline: Spline1d, t: REAL] RETURNS [REAL];

Acceleration1d: PROC [spline: Spline1d, t: REAL] RETURNS [REAL];
Position2d: PROC [spline: Spline2d, t: REAL] RETURNS [Pair];
Velocity2d: PROC [spline: Spline2d, t: REAL] RETURNS [Pair];

Acceleration2d: PROC [spline: Spline2d, t: REAL] RETURNS [Pair];

END.
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G2dSpline.mesa
Copyright ╙ 1984, 1992 by Xerox Corporation.  All rights reserved.
Bloomenthal, July 1, 1992 7:08 pm PDT

Type Declarations
1D Interpolation
Creates one-dimensional natural interpolating spline with chord-length parametrization.
Use spline if nonsNIL.
End tangents are zero.
If noOvershoot, clamp tangents to prevent spline from exceeding knot values

Creates two-dimensional natural interpolating spline with chord-length parametrization.
Use spline if nonsNIL.
End tangents are zero.
Evaluation
Return the point of the curve at position t.

Return the unnormalized tangent of the curve at position t.
Return the unnormalized acceleration of the curve at position t.

Return the point of the curve at position t.

Return the unnormalized tangent of the curve at position t.
Return the unnormalized acceleration of the curve at position t.
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