Eigen has an unsupported spline module where you can fit a spline given some data. Once a spline is fitted you can use it as a function to obtain points inbetween. The following example fits 1D data but can be modified to fit N-dimensional data.
git clone https://gist.github.com/chutsu/815c7c916c329eec85f34690a012f7cb spline_example
g++ -I/usr/include/eigen3 spline_example.cpp -o spline_example
./spline_example
This document was originally written several years ago. At the time I was working as an execution core verification engineer at Arm. The following points are coloured heavily by working in and around the execution cores of various processors. Apply a pinch of salt; points contain varying degrees of opinion.
It is still my opinion that RISC-V could be much better designed; though I will also say that if I was building a 32 or 64-bit CPU today I'd likely implement the architecture to benefit from the existing tooling.
Mostly based upon the RISC-V ISA spec v2.0. Some updates have been made for v2.2
The RISC-V ISA has pursued minimalism to a fault. There is a large emphasis on minimizing instruction count, normalizing encoding, etc. This pursuit of minimalism has resulted in false orthogonalities (such as reusing the same instruction for branches, calls and returns) and a requirement for superfluous instructions which impacts code density both in terms of size and
| # Build a Python extension module using pybind11 | |
| # pybindings_add_module(<module>) | |
| # Here <module> should be the fully qualified name for the module, | |
| # e.g. pybindings_add_module(foo.bar._baz) | |
| # <module> becomes the target name in case you wish to do something to it later | |
| # The source for the binding *must* be placed in src/pybindings/{relpath}/py{name}.cc | |
| # E.g. for module=foo.bar._baz -> src/pybindings/bar/py_baz.cc | |
| function(pybindings_add_module module) | |
| set(target_name ${module}) | |
| string(REPLACE "." "/" modpath ${module}) |
| #include <iostream> | |
| #include <fcl/shape/geometric_shapes.h> | |
| #include <fcl/collision.h> | |
| #include <fcl/continuous_collision.h> | |
| #include <fcl/ccd/motion.h> | |
| using namespace std; | |
| using namespace fcl; | |
| int main(int argc, char** argv) |
| # ##### BEGIN GPL LICENSE BLOCK ##### | |
| # | |
| # This program is free software; you can redistribute it and/or | |
| # modify it under the terms of the GNU General Public License | |
| # as published by the Free Software Foundation; either version 2 | |
| # of the License, or (at your option) any later version. | |
| # | |
| # This program is distributed in the hope that it will be useful, | |
| # but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |