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#include "se2_points_generator.h"
#include "manif/algorithms/decasteljau.h"
#include <iostream>
/**
* @brief An example of the use of the decasteljau algorithm.
*/
int main(int argc, char** argv)
{
if (argc < 4)
{
std::cout << "Usage: .se2_decateljau <k> <d> <p>\n";
std::cout << "\t with k: number of initial points on the 8-shaped curve.\n";
std::cout << "\t with d: degree of smoothness of the generated curve.\n";
std::cout << "\t with p: number of points to generate between consecutive points of the initial curve.\n";
return EXIT_SUCCESS;
}
int k, d, p;
k = atoi(argv[1]);
d = atoi(argv[2]);
p = atoi(argv[3]);
const auto points = manif::generateSE2PointsOnHeightShape(k);
std::cout << "Initial points:\n";
for (const auto& point : points)
std::cout << point.x() << ","
<< point.y() << ","
<< point.angle() << "\n";
std::cout << "Generated points:\n";
const auto curve = manif::decasteljau(points, d, p, true);
for (const auto& point : curve)
std::cout << point.x() << ","
<< point.y() << ","
<< point.angle() << "\n";
return EXIT_SUCCESS;
}
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