INTERFACE PZSmooth;

IMPORT PZLRChain, PZLR3Chain;
 
TYPE 
  LONG = LONGREAL;
  
PROCEDURE Polygonal(
    sigma: LONG;
    READONLY p: PZLR3Chain.T; 
    READONLY t: PZLRChain.T;
    tPeriod: LONG;
    tStart: LONG;
    VAR u: PZLR3Chain.T;
    VAR v: PZLR3Chain.T;
    VAR w: PZLR3Chain.T;
  );
  (*
    Compute a smoothed version closed polygonal curve "p[0..n]" by
    convolving it with the unit-area Gaussian 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 with 
    constant velocity between consecutive vertices.
    
    The smoothed curve is sampled at "m" times, equally spaced between
    "tStart" and "tStart + tPeriod", resulting in points "u[0..m-1]" 
    (where "m=NUMBER(u)").  The smoothed curve's velocity and acceleration
    at those points is stored in "v[0..m-1]" and "w[0..m-1]". *)

END PZSmooth.