1 files changed, 21 insertions, 0 deletions
diff --git a/src/path.h b/src/path.h
new file mode 100644
index 0000000..8aaa024
--- /dev/null
+++ b/src/path.h
@@ -0,0 +1,21 @@
+#ifndef PATH_H
+#define PATH_H
+
+#include <gsl/gsl_spline.h>
+
+typedef double getKineticEnergyFunc(double x, double T0);
+
+typedef struct path {
+    double pos[3];
+    double dir[3];
+    double theta0;
+    gsl_interp_accel *acc[8];
+    gsl_spline *spline[8];
+} path;
+
+double path_get_coefficient(unsigned int k, double *s, double *x, double theta0, size_t n);
+path *path_init(double *pos, double *dir, double T0, double range, double theta0, getKineticEnergyFunc *fun, double *z1, double *z2, size_t n, double m);
+void path_eval(path *p, double s, double *pos, double *dir, double *T, double *t);
+void path_free(path *p);
+
+#endif