ParametricCurve implements two kinds of curve, including
- N order Bezier Curve
- Cubic PieceWise Spline
Both of them inherit from Curve, which provides
- Compute the n-order derivative at a point
- Compute the parameter position (t) closest to a point on the curve
- Sample points with equal arc distance by numerical method
For more details, read the codes of examples, a simple description about N-orders Bezier Curve can be found in https://zhuanlan.zhihu.com/p/130247362
ParametricCurve only relies on Eigen, just copy the include files to your project.