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import numpy as np
from AutopyExtended.Curve.Curve import Curve
from scipy.special import comb
class CurveBezier(Curve):
def __init__(self, cp, tn):
self.__tn = tn
x = np.array([p[0] for p in cp])
y = np.array([p[1] for p in cp])
t = np.linspace(0, 1, tn)
poly = np.array([CurveBezier.bernstein(i, len(cp) - 1, t) for i in range(0, len(cp))])
self.__x = np.flip(np.dot(x, poly))
self.__y = np.flip(np.dot(y, poly))
def point(self, t, t_target):
t_scaled = min([t * self.__tn / t_target, self.__tn - 1])
return np.add((self.__x[int(np.floor(t_scaled))], self.__y[int(np.floor(t_scaled))]),
np.subtract((self.__x[int(np.ceil(t_scaled))], self.__y[int(np.ceil(t_scaled))]),
(self.__x[int(np.floor(t_scaled))], self.__y[int(np.floor(t_scaled))])) * (t_scaled - np.floor(t_scaled)))
@staticmethod
def bernstein(i, n, t):
return comb(n, i) * (t ** (n - i)) * (1 - t) ** i
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