#ifndef pz_smooth_H
#define pz_smooth_H

/* Procedures for smoothing curves */
/* Last edited on 2015-01-20 16:50:03 by stolfilocal */

#include <pz_double_chain.h>
#include <pz_r3_chain.h>
#include <pz_types.h>

void pz_smooth_polygonal(
    double sigma,
    pz_r3_chain_t *p, 
    pz_double_chain_t *t,
    double tPeriod,
    double tStart,
    pz_r3_chain_t *u,
    /* VAR v: pz_r3_chain_t; */
    /* VAR w: pz_r3_chain_t; */
  )
  /* Compute a smoothed version of a closed polygonal curve "p[0..n]" by
    convolving it with the unit-area Gaussian with characteristic duration
    "sigma, i.e. "exp(-t^2/sigma^2)/(sigma*sqrt(Pi))".  Assumes the
    input curve reaches "p[i]" at time "t[i]", gets back to "p[0]" at
    time "t[0] + tPeriod", and travels in straight uniform motion
    between consecutive vertices.
    
    The smoothed curve will be sampled at "m" equally spaced times (where
    "m==(u.ne)"), between "tStart" and "tStart + tPeriod", resulting
    in points "u[0..m-1]".
    
    The smoothed curve's velocity and acceleration at those points are
    stored in "v[0..m-1]" and "w[0..m-1]". */

#endif