main.cpp

#include <fstream>
#include <iomanip>
#include <iostream>
#include "piecewise_spline.h"

int main()
{
    std::vector<double> breaks = {0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0};
    std::vector<Eigen::VectorXd> knots = {
        Eigen::Vector3d(5.22, 9.60, -8.85),
        Eigen::Vector3d(8.92, -1.87, 4.30),
        Eigen::Vector3d(6.40, -4.81, 5.55),
        Eigen::Vector3d(8.76, -9.99, 5.52),
        Eigen::Vector3d(5.49, -9.63, -3.81),
        Eigen::Vector3d(-1.04, 2.45, -3.17),
        Eigen::Vector3d(-4.57, -2.53, 8.27)};

    // 零阶保持器测试
    PiecewiseSpline q0 = PiecewiseSpline::ZeroOrderHold(breaks, knots);

    // 线性插值测试
    PiecewiseSpline q1 = PiecewiseSpline::LinearSpline(breaks, knots);

    // 三次样条差值测试 Natural Condition
    PiecewiseSpline q3_natural = PiecewiseSpline::CubicSpline(breaks, knots);

    // 三次样条差值测试 NotAKnot Condition
    PiecewiseSpline q3_not_a_knot = PiecewiseSpline::CubicSpline(breaks, knots, false);

    // 三次样条差值测试 Clamp Condition
    Eigen::VectorXd clamped_start = Eigen::Vector3d(0, 0, 0);
    Eigen::VectorXd clamped_end = Eigen::Vector3d(0, 0, 0);
    PiecewiseSpline q3_clamp = PiecewiseSpline::CubicSpline(breaks, knots, clamped_start, clamped_end);

    // begin test
    int num_samps = 1000;
    double start = breaks[0], end = breaks[breaks.size() - 1];

    std::string filename0 = "../log/knots.csv";
    std::string filename1 = "../log/element0.csv";
    std::string filename2 = "../log/element1.csv";
    std::string filename3 = "../log/element2.csv";

    std::ofstream file0(filename0), file1(filename1), file2(filename2), file3(filename3);

    // load knots
    for (int i = 0; i < breaks.size(); ++i)
    {

        file0 << breaks[i] << "," << knots[i](0) << "," << knots[i](1) << "," << knots[i](2) << std::endl;
    }
    // load spline data
    for (int i = 0; i < num_samps; ++i)
    {
        double step = (end - start) / (num_samps - 1);
        double samp = start + i * step;

        file1 << samp << ","
              << q0.value(samp)(0) << ","
              << q1.value(samp)(0) << ","
              << q3_natural.value(samp)(0) << ","
              << q3_not_a_knot.value(samp)(0) << ","
              << q3_clamp.value(samp)(0) << std::endl;
        file2 << samp << ","
              << q0.value(samp)(1) << ","
              << q1.value(samp)(1) << ","
              << q3_natural.value(samp)(1) << ","
              << q3_not_a_knot.value(samp)(1) << ","
              << q3_clamp.value(samp)(1) << std::endl;
        file3 << samp << ","
              << q0.value(samp)(2) << ","
              << q1.value(samp)(2) << ","
              << q3_natural.value(samp)(2) << ","
              << q3_not_a_knot.value(samp)(2) << ","
              << q3_clamp.value(samp)(2) << std::endl;
    }

    file0.close();
    file1.close();
    file2.close();
    file3.close();

    return 0;
}