Separated Skeleton Object Type

ObjectTypes/Skeleton/Animation/AnimationHandle.hh

+/*===========================================================================*\
+*                                                                            *
+*                              OpenFlipper                                   *
+ *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
+ *           Department of Computer Graphics and Multimedia                  *
+ *                          All rights reserved.                             *
+ *                            www.openflipper.org                            *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ * This file is part of OpenFlipper.                                         *
+ *---------------------------------------------------------------------------*
+ *                                                                           *
+ * Redistribution and use in source and binary forms, with or without        *
+ * modification, are permitted provided that the following conditions        *
+ * are met:                                                                  *
+ *                                                                           *
+ * 1. Redistributions of source code must retain the above copyright notice, *
+ *    this list of conditions and the following disclaimer.                  *
+ *                                                                           *
+ * 2. Redistributions in binary form must reproduce the above copyright      *
+ *    notice, this list of conditions and the following disclaimer in the    *
+ *    documentation and/or other materials provided with the distribution.   *
+ *                                                                           *
+ * 3. Neither the name of the copyright holder nor the names of its          *
+ *    contributors may be used to endorse or promote products derived from   *
+ *    this software without specific prior written permission.               *
+ *                                                                           *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
+ * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
+ * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
+*                                                                            *
+\*===========================================================================*/
+
+/*===========================================================================*\
+*                                                                            *
+*   $Revision$                                                       *
+*   $LastChangedBy$                                                *
+*   $Date$                     *
+*                                                                            *
+\*===========================================================================*/
+
+#ifndef ANIMATIONHANDLE_HH
+#define ANIMATIONHANDLE_HH
+
+/**
+ * @brief A handle used to refer to an animation or to a specific frame in an animation
+ */
+class AnimationHandle
+{
+public:
+  /// Constructs an invalid animation handle (interpreted as handle of the reference pose)
+  AnimationHandle() : idAnimation(0), iFrame(0) {};
+  /// Constructs a valid handle for the given animation and frame
+  AnimationHandle(size_t idAnimation, size_t iFrame = 0) : idAnimation(idAnimation + 1), iFrame(iFrame) {};
+  /// Returns true if the handle is valid
+  inline bool isValid() const { return idAnimation > 0; }
+  /// Returns the animation index (zero based)
+  inline size_t animationIndex() const { return idAnimation - 1; }
+  
+  /// Returns the selected frame (zero based)
+  inline size_t frame() const { return iFrame; }
+  /// Sets the current animation frame (not failsafe)
+  inline void setFrame(size_t _iFrame) { iFrame = _iFrame; }
+
+  /// Returns to the first frame
+  inline void firstFrame() { iFrame = 0; }
+  /// Increases the handle to the next frame (not failsafe)
+  inline void operator++() { ++iFrame; }
+  /// Decreases the handle to the previous frame (not failsafe)
+  inline void operator--() { --iFrame; }
+
+  inline bool operator==(const AnimationHandle &rhs) { return (idAnimation == rhs.idAnimation) && (iFrame == rhs.iFrame); }
+  inline bool operator!=(const AnimationHandle &rhs) { return (idAnimation != rhs.idAnimation) || (iFrame != rhs.iFrame); }
+
+private:
+  /// The one based index of the animation, set to 0 for invalid (or reference pose)
+  size_t idAnimation;
+  /// The frame number
+  size_t iFrame;
+};
+
+#endif // ANIMATIONHANDLE_HH

ObjectTypes/Skeleton/Animation/AnimationHelper.cc

+/*===========================================================================*\
+*                                                                            *
+*                              OpenFlipper                                   *
+ *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
+ *           Department of Computer Graphics and Multimedia                  *
+ *                          All rights reserved.                             *
+ *                            www.openflipper.org                            *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ * This file is part of OpenFlipper.                                         *
+ *---------------------------------------------------------------------------*
+ *                                                                           *
+ * Redistribution and use in source and binary forms, with or without        *
+ * modification, are permitted provided that the following conditions        *
+ * are met:                                                                  *
+ *                                                                           *
+ * 1. Redistributions of source code must retain the above copyright notice, *
+ *    this list of conditions and the following disclaimer.                  *
+ *                                                                           *
+ * 2. Redistributions in binary form must reproduce the above copyright      *
+ *    notice, this list of conditions and the following disclaimer in the    *
+ *    documentation and/or other materials provided with the distribution.   *
+ *                                                                           *
+ * 3. Neither the name of the copyright holder nor the names of its          *
+ *    contributors may be used to endorse or promote products derived from   *
+ *    this software without specific prior written permission.               *
+ *                                                                           *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
+ * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
+ * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
+*                                                                            *
+\*===========================================================================*/
+
+/*===========================================================================*\
+*                                                                            *
+*   $Revision$                                                       *
+*   $LastChangedBy$                                                *
+*   $Date$                     *
+*                                                                            *
+\*===========================================================================*/
+
+#define ANIMATIONHELPER_CC
+
+#include "AnimationHelper.hh"
+#include <cmath>
+#include <cassert>
+
+#define APPROXIMATION_EPSILON 1.0e-09
+#define VERYSMALL 1.0e-20
+#define MAXIMUM_ITERATIONS 1000
+
+template<typename Scalar>
+Scalar AnimationHelper::clampTo01Interval(Scalar _value) {
+  if (_value < 0.0)
+    return 0.0;
+  else if (_value > 1.0)
+    return 1.0;
+  else
+    return _value;
+}
+
+template<typename Scalar>
+Scalar AnimationHelper::abs(Scalar _value) {
+  if (_value < 0.0)
+    return _value * -1.0;
+  else
+    return _value;
+}
+
+template<typename Scalar>
+float AnimationHelper::approximateCubicBezierParameter(Scalar _atX, Scalar _P0X, Scalar _P1X, Scalar _C0X, Scalar _C1X) {
+   if (_atX - _P0X < VERYSMALL)
+      return 0.0;
+   
+   if (_P1X - _atX < VERYSMALL) 
+      return 1.0;
+   
+   long iterationStep = 0;
+   
+   float u = 0.0f; float v = 1.0f;
+   
+   //iteratively apply subdivision to approach value atX
+   while (iterationStep < MAXIMUM_ITERATIONS) {
+      
+      // de Casteljau Subdivision.
+      Scalar a = (_P0X + _C0X)*0.5;
+      Scalar b = (_C0X + _C1X)*0.5;
+      Scalar c = (_C1X + _P1X)*0.5;
+      Scalar d = (a + b)*0.5;
+      Scalar e = (b + c)*0.5;
+      Scalar f = (d + e)*0.5; //this one is on the curve!
+      
+      //The curve point is close enough to our wanted atX
+      if (abs<Scalar>(f - _atX) < APPROXIMATION_EPSILON)
+         return clampTo01Interval<Scalar>((u + v)*0.5f);
+      
+      //dichotomy
+      if (f < _atX) {
+         _P0X = f;
+         _C0X = e;
+         _C1X = c;
+         u = (u + v)*0.5f;
+      } else {
+         _C0X = a; _C1X = d; _P1X = f; v = (u + v)*0.5f;
+      }
+      
+      iterationStep++;
+   }
+   
+   return clampTo01Interval<Scalar>((u + v)*0.5f); 
+}
+
+template<typename Scalar>
+std::vector<Scalar> AnimationHelper::evaluateBezier(float at, std::vector<Scalar> _P0, std::vector<Scalar> _P1, std::vector<Scalar> _C0, std::vector<Scalar> _C1) {
+  unsigned int size = _P0.size();
+  assert(size == _P1.size() && size == _C0.size() && size == _C1.size());
+  
+  float s = at;
+  float sinv = (1-s);
+
+  std::vector<Scalar> result;
+  
+  for (unsigned int i=0;i<size;++i) {
+    result.push_back( _P0[i]*sinv*sinv*sinv + 3*_C0[i]*s*sinv*sinv + 3*_C1[i]*s*s*sinv + _P1[i]*s*s*s );
+  }
+  
+  return result;
+}

ObjectTypes/Skeleton/Animation/AnimationHelper.hh

+/*===========================================================================*\
+*                                                                            *
+*                              OpenFlipper                                   *
+ *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
+ *           Department of Computer Graphics and Multimedia                  *
+ *                          All rights reserved.                             *
+ *                            www.openflipper.org                            *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ * This file is part of OpenFlipper.                                         *
+ *---------------------------------------------------------------------------*
+ *                                                                           *
+ * Redistribution and use in source and binary forms, with or without        *
+ * modification, are permitted provided that the following conditions        *
+ * are met:                                                                  *
+ *                                                                           *
+ * 1. Redistributions of source code must retain the above copyright notice, *
+ *    this list of conditions and the following disclaimer.                  *
+ *                                                                           *
+ * 2. Redistributions in binary form must reproduce the above copyright      *
+ *    notice, this list of conditions and the following disclaimer in the    *
+ *    documentation and/or other materials provided with the distribution.   *
+ *                                                                           *
+ * 3. Neither the name of the copyright holder nor the names of its          *
+ *    contributors may be used to endorse or promote products derived from   *
+ *    this software without specific prior written permission.               *
+ *                                                                           *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
+ * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
+ * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
+*                                                                            *
+\*===========================================================================*/
+
+/*===========================================================================*\
+*                                                                            *
+*   $Revision$                                                       *
+*   $LastChangedBy$                                                *
+*   $Date$                     *
+*                                                                            *
+\*===========================================================================*/
+
+#ifndef SKELETON_ANIMATIONHELPER_HH
+#define SKELETON_ANIMATIONHELPER_HH
+#include <vector>
+
+class AnimationHelper
+{
+  public:
+        
+    /** \brief Approximates the parameter value for a Bezier curve to get a certain x value
+    * Does an iterative DeCasteljau search for the correct value.
+    *
+    *  ^
+    *  |     C0----------------------------C1       
+    *  |    /                               \                   
+    *  |   /                                 \           
+    *  |  /                                   \        
+    *  | P0                                   P1
+    *  |             
+    *  +------------------atX------------------------------------>
+    *
+    * @param _atX The X value that the parameter value should be found for
+    * @param _P0X The X value of the first key point
+    * @param _P1X The X value of the second key point
+    * @param _C0X The X value of the first control point
+    * @param _C1X The X value of the second control point
+    * @return The parameter value that has to be used to get the specified X value
+    */
+    template<typename Scalar>
+    static float approximateCubicBezierParameter(Scalar _atX, Scalar _P0X, Scalar _P1X, Scalar _C0X, Scalar _C1X);
+    
+    /**
+    * \brief Evaluates the cubic Bezier curve parameterized by P0, P1, C0 and C1 at the parameter value "at"
+    */
+    template<typename Scalar>
+    static std::vector<Scalar> evaluateBezier(float at, std::vector<Scalar> _P0, std::vector<Scalar> _P1, std::vector<Scalar> _C0, std::vector<Scalar> _C1);
+    
+  private:
+    template<typename Scalar>
+    static Scalar clampTo01Interval(Scalar _value);
+    
+    template<typename Scalar>
+    static Scalar abs(Scalar _value);
+};
+
+//=============================================================================
+#if defined(INCLUDE_TEMPLATES) && !defined(ANIMATIONHELPER_CC)
+#define ANIMATIONHELPER_TEMPLATES
+#include "AnimationHelper.cc"
+#endif
+//=============================================================================
+
+#endif //SKELETON_ANIMATIONHELPER_HH
\ No newline at end of file

ObjectTypes/Skeleton/Animation/AnimationT.hh

+/*===========================================================================*\
+*                                                                            *
+*                              OpenFlipper                                   *
+ *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
+ *           Department of Computer Graphics and Multimedia                  *
+ *                          All rights reserved.                             *
+ *                            www.openflipper.org                            *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ * This file is part of OpenFlipper.                                         *
+ *---------------------------------------------------------------------------*
+ *                                                                           *
+ * Redistribution and use in source and binary forms, with or without        *
+ * modification, are permitted provided that the following conditions        *
+ * are met:                                                                  *
+ *                                                                           *
+ * 1. Redistributions of source code must retain the above copyright notice, *
+ *    this list of conditions and the following disclaimer.                  *
+ *                                                                           *
+ * 2. Redistributions in binary form must reproduce the above copyright      *
+ *    notice, this list of conditions and the following disclaimer in the    *
+ *    documentation and/or other materials provided with the distribution.   *
+ *                                                                           *
+ * 3. Neither the name of the copyright holder nor the names of its          *
+ *    contributors may be used to endorse or promote products derived from   *
+ *    this software without specific prior written permission.               *
+ *                                                                           *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
+ * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
+ * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
+*                                                                            *
+\*===========================================================================*/
+
+/*===========================================================================*\
+*                                                                            *
+*   $Revision$                                                       *
+*   $LastChangedBy$                                                *
+*   $Date$                     *
+*                                                                            *
+\*===========================================================================*/
+
+#ifndef ANIMATIONT_HH
+#define ANIMATIONT_HH
+
+#include <vector>
+#include <map>
+
+#include "../PoseT.hh"
+#include "AnimationHandle.hh"
+
+/**
+ * @brief Stores a single animation
+ *
+ * This class is used by a skeleton to store a single animation. An animation is an array of different Poses.
+ * Both the reference pose and the skeleton hierarchy are not used by the animation class itself, but are
+ * passed to the poses.
+ */
+template<class PointT>
+class AnimationT
+{
+  template<typename>
+  friend class SkeletonT;
+
+public:
+  typedef PointT                                Point;
+  typedef typename Point::value_type            Scalar;
+  typedef PoseT<PointT>                         Pose;
+
+public:
+  AnimationT(std::string _name = "") : name_(_name), fps_(60) {}
+  virtual AnimationT* copy() = 0;
+  virtual ~AnimationT() {}
+
+public:
+  /**
+    * @name Frame access
+    * There is one pose per frame.
+    */
+  //@{
+  virtual Pose *pose(unsigned int _iFrame) = 0;
+  virtual unsigned int frameCount() = 0;
+  //@}
+
+  /**
+    * @name Synchronization
+    * Use these methods to keep the poses in sync with the number (and indices) of the joints.
+    */
+  //@{
+  virtual void insertJointAt(unsigned int _index) = 0;
+  virtual void removeJointAt(unsigned int _index) = 0;
+  //@}
+
+  virtual void updateFromGlobal(unsigned int _index) = 0;
+  virtual void clearPoseCache() {}
+
+  inline std::string name() {
+    return name_;
+  }
+
+  inline void setName(std::string _name) {
+    name_ = _name;
+  }
+
+  inline int fps() {
+    return fps_;
+  }
+
+  inline void setFps(int _fps) {
+    fps_ = _fps;
+  }
+
+protected:
+  std::string name_;
+  int fps_;
+};
+
+
+#endif

ObjectTypes/Skeleton/Animation/BezierInterpolationT.cc

+/*===========================================================================*\
+*                                                                            *
+*                              OpenFlipper                                   *
+ *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
+ *           Department of Computer Graphics and Multimedia                  *
+ *                          All rights reserved.                             *
+ *                            www.openflipper.org                            *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ * This file is part of OpenFlipper.                                         *
+ *---------------------------------------------------------------------------*
+ *                                                                           *
+ * Redistribution and use in source and binary forms, with or without        *
+ * modification, are permitted provided that the following conditions        *
+ * are met:                                                                  *
+ *                                                                           *
+ * 1. Redistributions of source code must retain the above copyright notice, *
+ *    this list of conditions and the following disclaimer.                  *
+ *                                                                           *
+ * 2. Redistributions in binary form must reproduce the above copyright      *
+ *    notice, this list of conditions and the following disclaimer in the    *
+ *    documentation and/or other materials provided with the distribution.   *
+ *                                                                           *
+ * 3. Neither the name of the copyright holder nor the names of its          *
+ *    contributors may be used to endorse or promote products derived from   *
+ *    this software without specific prior written permission.               *
+ *                                                                           *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS       *
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED *
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A           *
+ * PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER *
+ * OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,  *
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,       *
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR        *
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF    *
+ * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING      *
+ * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS        *
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.              *
+*                                                                            *
+\*===========================================================================*/
+
+/*===========================================================================*\
+*                                                                            *
+*   $Revision$                                                       *
+*   $LastChangedBy$                                                *
+*   $Date$                     *
+*                                                                            *
+\*===========================================================================*/
+
+#include "AnimationHelper.hh"
+#include <utility>
+
+//-----------------------------------------------------------------------------------------------------
+
+template<typename Scalar>
+std::vector<Scalar> BezierInterpolationT<Scalar>::getValue(Scalar _atX) {
+  float bezierParam = AnimationHelper::approximateCubicBezierParameter<Scalar>(_atX, P0_.first, P1_.first, C0_.first, C1_.first);
+  return AnimationHelper::evaluateBezier<Scalar>(bezierParam, P0_.second, P1_.second, C0_.second, C1_.second);
+}
+
+//-----------------------------------------------------------------------------------------------------
+
+template<typename Scalar>
+Scalar BezierInterpolationT<Scalar>::getMaxInput() {
+  typedef std::vector<Scalar> Scalars;
+  
+  Scalars p0_x; p0_x.push_back(P0_.first);
+  Scalars p1_x; p1_x.push_back(P1_.first);
+  Scalars c0_x; c0_x.push_back(C0_.first);
+  Scalars c1_x; c1_x.push_back(C1_.first);
+  
+  return AnimationHelper::evaluateBezier<Scalar>(1.0f, p0_x, p1_x, c0_x, c1_x)[0];
+}
+
+//-----------------------------------------------------------------------------------------------------
+
+template<typename Scalar>
+Scalar BezierInterpolationT<Scalar>::getMinInput() {
+  typedef std::vector<Scalar> Scalars;
+  
+  Scalars p0_x; p0_x.push_back(P0_.first);
+  Scalars p1_x; p1_x.push_back(P1_.first);
+  Scalars c0_x; c0_x.push_back(C0_.first);
+  Scalars c1_x; c1_x.push_back(C1_.first);
+  
+  return AnimationHelper::evaluateBezier<Scalar>(0.0f, p0_x, p1_x, c0_x, c1_x)[0];
+}
+
+//-----------------------------------------------------------------------------------------------------
+
+template<typename Scalar>
+typename BezierInterpolationT<Scalar>::Point&
+BezierInterpolationT<Scalar>::P0(){
+  return P0_;
+}
+
+//-----------------------------------------------------------------------------------------------------
+
+template<typename Scalar>
+typename BezierInterpolationT<Scalar>::Point&
+BezierInterpolationT<Scalar>::C0(){
+  return C0_;
+}
+
+//-----------------------------------------------------------------------------------------------------
+
+template<typename Scalar>
+typename BezierInterpolationT<Scalar>::Point&
+BezierInterpolationT<Scalar>::C1(){
+  return C1_;
+}
+
+//-----------------------------------------------------------------------------------------------------
+
+template<typename Scalar>
+typename BezierInterpolationT<Scalar>::Point&
+BezierInterpolationT<Scalar>::P1(){
+  return P1_;
+}
+
+//-----------------------------------------------------------------------------------------------------

ObjectTypes/Skeleton/Animation/FrameAnimationT.cc

+/*===========================================================================*\
+*                                                                            *
+*                              OpenFlipper                                   *
+ *           Copyright (c) 2001-2015, RWTH-Aachen University                 *
+ *           Department of Computer Graphics and Multimedia                  *
+ *                          All rights reserved.                             *
+ *                            www.openflipper.org                            *
+ *                                                                           *
+ *---------------------------------------------------------------------------*
+ * This file is part of OpenFlipper.                                         *
+ *---------------------------------------------------------------------------*
+ *                                                                           *
+ * Redistribution and use in source and binary forms, with or without        *
+ * modification, are permitted provided that the following conditions        *
+ * are met:                                                                  *
+ *                                                                           *
+ * 1. Redistributions of source code must retain the above copyright notice, *