#ifndef _SPLINE_H
#define _SPLINE_H

#include <vector>
#include <assert.h>
#include <sys/time.h>
#include <stdio.h>
#include <errno.h>
#include "cv.h"
#include "vec.h"
#include "util.h"
using namespace std;

// A very simple implementation of a catmull rom spline in 3D
class Spline
{
	public:
	vector<vec3d> points;

	Spline() {}
	Spline(vec3d p) { setPoint(p); }
	int findState(float time);
	void setPoint(vec3d point);
	int getSplinePoint(float time, vec3d &vnew);
	vec3d getNormal(float time);
	vec3d getNormalPoint(int pt);
	vec3d findCentroid();
	void drawSpline(IplImage* image);

	static vec<double,4> getCatMull(double t, double k);
};

void operator+= (Spline &sp, vec3d v);

#endif // _SPLINE_H