void era_trajectory_destroy(era_trajectory_p trajectory) {
int i;
spline_p spline_a = (spline_p)trajectory;
for (i = 0; i < sizeof(era_trajectory_t)/sizeof(spline_t); ++i)
spline_destroy(&spline_a[i]);
}
int processtask(task_t *ptask, task_t *prep, spline_t *pspline) {
prep->cmd = ptask->cmd;
switch(ptask->cmd) {
case SPLINE_INIT:
spline_init(pspline, (double_t*)ptask->px,
(double_t*)ptask->px + ptask->n/(sizeof(double_t)*2),
ptask->n/(sizeof(double_t)*2));
break;
case SPLINE_DESTROY:
spline_destroy(pspline);
break;
case SPLINE_GETVAL:
spline_getvaluev(pspline, (double_t*)ptask->px,
(double_t*)prep->px, ptask->n/sizeof(double_t));
break;
}
return 0;
}
int main() {
double_t xs[SIZE_SRC], ys[SIZE_SRC],
xt[SIZE_TAR], yt[SIZE_TAR], ye[SIZE_TAR],
v;
spline_t spline;
v=0;
for(size_t i=0; i<SIZE_SRC; ++i, v+=STEP_SRC) {
xs[i] = v;
ys[i] = sin(v) + 2;
}
spline_init(&spline, xs, ys, SIZE_SRC);
v=0;
for(size_t i=0; i<SIZE_TAR; ++i, v+=STEP_TAR) {
xt[i] = v;
yt[i] = sin(v) + 2;
ye[i] = spline_getvalue(&spline, v);
printf("x %f, target %f, spline %f, error %f\n", xt[i], yt[i], ye[i], yt[i]-ye[i]);
}
spline_destroy(&spline);
return EXIT_SUCCESS;
}
