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#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, double *theta0);
void path_free(path *p);
#endif
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