public FunctionTermCurve(FunctionTerm function)
{
if (function == null)
{
throw new ArgumentNullException("function");
}
if (function.DomainDimension != 1)
{
throw new ArgumentException("parameter 'function' has wrong domain dimension.");
}
if (function.CodomainDimension != 2)
{
throw new ArgumentException("parameter 'function' has wrong codomain dimension.");
}
this.point = function;
this.velocity = point.GetDerivatives().Single();
this.acceleration = velocity.GetDerivatives().Single();
this.jerk = acceleration.GetDerivatives().Single();
ValueTerm position = Terms.Variable("t");
ValueTerm speedValue = Terms.Norm(velocity.Apply(position));
this.speed = speedValue.Abstract(position);
ValueTerm directionValue = Terms.Angle(velocity.Apply(position));
this.direction = directionValue.Abstract(position);
ValueTerm curvatureValue = Terms.Quotient(direction.GetDerivatives().Single().Apply(position), speedValue);
this.curvature = curvatureValue.Abstract(position);
}
public FunctionTermCurve InstantiateParameter(ValueTerm parameter)
{
ValueTerm position = Terms.Variable("t");
return(new FunctionTermCurve(function.Apply(position, parameter).Abstract(position)));
}
public FunctionTermCurve TransformInput(FunctionTerm transformation)
{
ValueTerm position = Terms.Variable("t");
return(new FunctionTermCurve(point.Apply(transformation.Apply(position)).Abstract(position)));
}
static Vector2Double EvaluateVector(FunctionTerm function, double value)
{
IEnumerable <double> result = function.Apply(Terms.Constant(value)).Evaluate();
return(new Vector2Double(result.ElementAt(0), result.ElementAt(1)));
}
static double EvaluateScalar(FunctionTerm function, double value)
{
IEnumerable <double> result = function.Apply(Terms.Constant(value)).Evaluate();
return(result.Single());
}
public bool Contains(double position)
{
double localPosition = positionTransformation.Apply(Terms.Constant(position)).Evaluate().Single();
return(new OrderedRange <double>(0, 1).Contains(localPosition));
}
public static ValueTerm Apply(this FunctionTerm function, params ValueTerm[] parameters)
{
return(function.Apply((IEnumerable <ValueTerm>)parameters));
}
