rework

include/autoopt/parabola_new.hpp

@@ -0,0 +1,33 @@
+#pragma once
+
+#include "autoopt/parameters.hpp"
+#include "autoopt/quadric.hpp"
+
+namespace autoopt {
+
+struct parabola_new : curve_base {
+  // T focal_length;
+  parabola_new() : curve_base() {
+    initial = Eigen::VectorXd::Zero(3);
+    delta = Eigen::VectorXd::Zero(3);
+    param_names =
+        std::vector<const char*>{"focus", "entrance angle", "rotation"};
+  }
+
+  template <typename T>
+  quadric<T> grapher_from_params(const Eigen::VectorX<T>& params) const {
+    T exit_arm = params(0);
+    T entrance_angle = params(1);
+    T alpha = params(2);
+
+    T x = exit_arm * std::sin(T{2.0} * entrance_angle);
+    T f = T{0.5} * (T{1.0} - std::cos(T{2.0} * entrance_angle)) * exit_arm;
+    T a = T{1.0} / (T{4.0} * f);
+    T y = a * x * x;
+    quadric<T> q = quadric(a, T{0}, T{0}, T{0}, T{-1.0}, T{0});
+    return q.translated_by(-x, -y).rotated_by(entrance_angle - T{M_PI_2} +
+                                              alpha);
+  }
+};
+
+}  // namespace autoopt