G1 and G2 fitting with clothoids, spline of clothods, circle arc and biarc

Github repository https://github.com/ebertolazzi/Clothoids

Matlab TOOLBOX https://github.com/ebertolazzi/Clothoids/releases

Installation

Matlab

Download the toolbox and install as usual. Run CompileClothoidsLib on Matlab console windows to compile the mex of the library.

C++

Download the library

git clone git@github.com:ebertolazzi/Clothoids.git —recurse-submodules

if you forget —recurse-submodules you must load the submdule quarticRootsFlocke next. To compile the library you can use make

make

or cmake

mkdir build
cd build
cmake ..
make

of rake

rake build_osx   # on mac
rake build_linux # on linux
rake build_win   # on windows

using make you have the library and headers in the following tree

`-- lib
    |-- include
    |   |-- AABBtree.hh
    |   |-- Biarc.hh
    |   |-- BiarcList.hh
    |   |-- Circle.hh
    |   |-- Clothoid.hh
    |   |-- ClothoidAsyPlot.hh
    |   |-- ClothoidList.hh
    |   |-- Fresnel.hh
    |   |-- G2lib.hh
    |   |-- Line.hh
    |   |-- PolyLine.hh
    |   |-- PolynomialRoots-Utils.hh
    |   |-- PolynomialRoots.hh
    |   `-- Triangle2D.hh
    `-- lib
        |-- libClothoids_OSTYPE.dylib
        `-- libClothoids_OSTYPE_static.a

where OSTYPE can be linux, osx, mingw_x64, win_x64

Contents

Authors

  • Enrico Bertolazzi
    Dipartimento di Ingegneria Industriale
    Università degli Studi di Trento
    email:
    homepage: https://e.bertolazzi.dii.unitn.it
  • Marco Frego
    Faculty of Science and Technology
    Free University of Bozen-Bolzano
    email:

References

  1. E. Bertolazzi, M. Frego, G1 fitting with clothoids,
    Mathematical Methods in the Applied Sciences,
    John Wiley & Sons, 2014, vol. 38, n.5, pp. 881-897,
    https://doi.org/10.1002/mma.3114
  2. E. Bertolazzi, M. Frego, On the G2 Hermite interpolation problem with clothoids,
    Journal of Computational and Applied Mathematics,
    2018, vol. 15, n.341, pp. 99-116.
    https://doi.org/10.1016/j.cam.2018.03.029
  3. E. Bertolazzi, M. Frego, Interpolating clothoid splines with curvature continuity,
    Mathematical Methods in the Applied Sciences,
    2018, vol. 41, n.4, pp. 1099-1476.
    https://doi.org/10.1002/mma.4700
  4. E. Bertolazzi, M. Frego Point-Clothoid Distance and Projection Computation,
    SIAM Journal on Scientific Computing,
    2019, 41(5), A3326–A3353.
    https://doi.org/10.1137/18M1200439
  5. E. Bertolazzi, M. Frego A Note on Robust Biarc Computation,
    Computer-Aided Design & Applications 16 (5), 822-835
    http://www.cad-journal.net/files/vol_16/CAD_16(5)_2019_822-835.pdf

License 

Copyright (c) 2020, Enrico Bertolazzi and Marco Frego
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:

    * Redistributions of source code must retain the above copyright
      notice, this list of conditions and the following disclaimer.
    * 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

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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