# Path: pomp/klampt/vectorops.py
# def add(*items):
# def madd(a,b,c):
# def sub(a,b):
# def mul(a,b):
# def div(a,b):
# def maximum(a,b):
# def minimum(a,b):
# def dot(a,b):
# def normSquared(a):
# def norm(a):
# def unit(a,epsilon=1e-5):
# def norm_L1(a):
# def norm_Linf(a):
# def distanceSquared(a,b):
# def distance(a,b):
# def cross(a,b):
# def interpolate(a,b,u):
# 
# Path: pomp/klampt/trajectory.py
# class Trajectory:
# class RobotTrajectory(Trajectory):
# class HermiteTrajectory(Trajectory):
# 	def __init__(self,times=[],milestones=[]):
# 	def load(self,fn):
# 	def save(self,fn):
# 	def checkValid(self):
# 	def getSegment(self,t,endBehavior='halt'):
# 	def eval(self,t,endBehavior='halt'):
# 	def deriv(self,t,endBehavior='halt'):
# 	def interpolate(self,a,b,u):
# 	def difference(self,a,b):
# 	def concat(self,suffix,relative=False,jumpPolicy='strict'):
# 	def split(self,time):
# 	def before(self,time):
# 	def after(self,time):
# 	def splice(self,suffix,time=None,relative=False,jumpPolicy='strict'):
# 	def __init__(self,robot,times=[],milestones=[]):
# 	def interpolate(self,a,b,u):
# 	def difference(self,a,b):
# 	def __init__(self,times=[],milestones=[],dmilestones=None):
# 	def makeSpline(self,waypointTrajectory):
# 	def eval_config(self,t,endBehavior='halt'):
# 	def eval_velocity(self,t,endBehavior='halt'):
# 	def eval_accel(self,t,endBehavior='halt'):
# 	def interpolate(self,a,b,u):
# 	def difference(self,a,b):
# 
# Path: pomp/spaces/geodesicspace.py
# class GeodesicSpace:
#     def dimension(self):
#         raise NotImplementedError()
#     def distance(self,a,b):
#         return vectorops.distance(a,b)
#     def interpolate(self,a,b,u):
#         return vectorops.interpolate(a,b,u)
#     def difference(self,a,b):
#         """For Lie groups, returns a difference vector that, when integrated
#         would get to a from b.  In Cartesian spaces it is a-b."""
#         return vectorops.sub(a,b)
#     def integrate(self,x,d):
#         """For Lie groups, returns the point that would be arrived at via
#         integrating the difference vector d starting from x.  Must satisfy
#         the relationship a = integrate(b,difference(a,b)). In Cartesian
#         spaces it is x+d"""
#         return vectorops.add(x,d)


from builtins import range
from six import iteritems
from ..klampt import vectorops,trajectory
from .geodesicspace import GeodesicSpace
import math
from __future__ import print_function,division


class Interpolator:
    """A base class for an interpolating curve"""
    def __init__(self,a,b):
        self.a = a
        self.b = b
    def length(self):
        """Evaluates the length of the interpolator"""
        raise NotImplementedError()
    def eval(self,u):
        """Evalutes the interpolating point for u in the range [0,1]"""
        raise NotImplementedError()
    def start(self):
        return self.a
    def end(self):
        return self.b
    def split(self,u):
        """Return a pair of interpolators split at self.eval(u)"""
        raise NotImplementedError()

class LinearInterpolator(Interpolator):
    def length(self):
        return vectorops.distance(self.a,self.b)
    def eval(self,u):

# Path: pomp/klampt/vectorops.py
# def add(*items):
# def madd(a,b,c):
# def sub(a,b):
# def mul(a,b):
# def div(a,b):
# def maximum(a,b):
# def minimum(a,b):
# def dot(a,b):
# def normSquared(a):
# def norm(a):
# def unit(a,epsilon=1e-5):
# def norm_L1(a):
# def norm_Linf(a):
# def distanceSquared(a,b):
# def distance(a,b):
# def cross(a,b):
# def interpolate(a,b,u):
# 
# Path: pomp/klampt/trajectory.py
# class Trajectory:
# class RobotTrajectory(Trajectory):
# class HermiteTrajectory(Trajectory):
# 	def __init__(self,times=[],milestones=[]):
# 	def load(self,fn):
# 	def save(self,fn):
# 	def checkValid(self):
# 	def getSegment(self,t,endBehavior='halt'):
# 	def eval(self,t,endBehavior='halt'):
# 	def deriv(self,t,endBehavior='halt'):
# 	def interpolate(self,a,b,u):
# 	def difference(self,a,b):
# 	def concat(self,suffix,relative=False,jumpPolicy='strict'):
# 	def split(self,time):
# 	def before(self,time):
# 	def after(self,time):
# 	def splice(self,suffix,time=None,relative=False,jumpPolicy='strict'):
# 	def __init__(self,robot,times=[],milestones=[]):
# 	def interpolate(self,a,b,u):
# 	def difference(self,a,b):
# 	def __init__(self,times=[],milestones=[],dmilestones=None):
# 	def makeSpline(self,waypointTrajectory):
# 	def eval_config(self,t,endBehavior='halt'):
# 	def eval_velocity(self,t,endBehavior='halt'):
# 	def eval_accel(self,t,endBehavior='halt'):
# 	def interpolate(self,a,b,u):
# 	def difference(self,a,b):
# 
# Path: pomp/spaces/geodesicspace.py
# class GeodesicSpace:
#     def dimension(self):
#         raise NotImplementedError()
#     def distance(self,a,b):
#         return vectorops.distance(a,b)
#     def interpolate(self,a,b,u):
#         return vectorops.interpolate(a,b,u)
#     def difference(self,a,b):
#         """For Lie groups, returns a difference vector that, when integrated
#         would get to a from b.  In Cartesian spaces it is a-b."""
#         return vectorops.sub(a,b)
#     def integrate(self,x,d):
#         """For Lie groups, returns the point that would be arrived at via
#         integrating the difference vector d starting from x.  Must satisfy
#         the relationship a = integrate(b,difference(a,b)). In Cartesian
#         spaces it is x+d"""
#         return vectorops.add(x,d)


# Path: pomp/spaces/interpolators.py
from builtins import range
from six import iteritems
from ..klampt import vectorops,trajectory
from .geodesicspace import GeodesicSpace
import math

from __future__ import print_function,division


class Interpolator:
    """A base class for an interpolating curve"""
    def __init__(self,a,b):
        self.a = a
        self.b = b
    def length(self):
        """Evaluates the length of the interpolator"""
        raise NotImplementedError()
    def eval(self,u):
        """Evalutes the interpolating point for u in the range [0,1]"""
        raise NotImplementedError()
    def start(self):
        return self.a
    def end(self):
        return self.b
    def split(self,u):
        """Return a pair of interpolators split at self.eval(u)"""
        raise NotImplementedError()

class LinearInterpolator(Interpolator):
    def length(self):
        return vectorops.distance(self.a,self.b)
    def eval(self,u):

        return vectorops.interpolate(self.a,self.b,u)