G2lib::Dubins Class Reference

#include <Dubins.hxx>

Inheritance diagram for G2lib::Dubins:

Public Member Functions
	Dubins ()=delete
	Three arc solution of DUBINS problem.
	Dubins (string const &name)
void	setup (GenericContainer const &gc) override
	Dubins (Dubins const &s)
	Dubins (real_type x0, real_type y0, real_type theta0, real_type x1, real_type y1, real_type theta1, real_type k_max, string const &name)
void	copy (Dubins const &d)
bool	build (real_type x0, real_type y0, real_type theta0, real_type x1, real_type y1, real_type theta1, real_type k_max)
integer	get_range_angles_begin (real_type x0, real_type y0, real_type x1, real_type y1, real_type theta1, real_type k_max, real_type angles[]) const
integer	get_range_angles_end (real_type x0, real_type y0, real_type theta0, real_type x1, real_type y1, real_type k_max, real_type angles[]) const
void	build (LineSegment const &L)
void	build (CircleArc const &C)
void	build (ClothoidCurve const &)
void	build (Biarc const &)
void	build (BiarcList const &)
void	build (PolyLine const &)
void	build (ClothoidList const &)
void	build (Dubins const &)
void	build (Dubins3p const &)
void	bbox (real_type &xmin, real_type &ymin, real_type &xmax, real_type &ymax) const override
void	bbox_ISO (real_type offs, real_type &xmin, real_type &ymin, real_type &xmax, real_type &ymax) const override
CircleArc const &	C0 () const
CircleArc const &	C1 () const
CircleArc const &	C2 () const
void	get_solution (ClothoidList &CL) const
real_type	length () const override
real_type	length_Dalpha () const
real_type	length_Dbeta () const
real_type	length_ISO (real_type offs) const override
void	length_grad (real_type grad[2]) const
DubinsType	solution_type () const
string	solution_type_string () const
string	solution_type_string_short () const
integer	icode () const
real_type	length0 () const
real_type	length1 () const
real_type	length2 () const
real_type	kappa0 () const
real_type	kappa1 () const
real_type	kappa2 () const
real_type	X0 (real_type s) const
real_type	Y0 (real_type s) const
real_type	X1 (real_type s) const
real_type	Y1 (real_type s) const
real_type	X2 (real_type s) const
real_type	Y2 (real_type s) const
real_type	theta0 (real_type s) const
real_type	theta1 (real_type s) const
real_type	theta2 (real_type s) const
real_type	theta_begin () const override
real_type	theta_end () const override
real_type	kappa_begin () const override
real_type	kappa_end () const override
real_type	x_begin () const override
real_type	x_end () const override
real_type	y_begin () const override
real_type	y_end () const override
real_type	tx_begin () const override
real_type	tx_end () const override
real_type	ty_begin () const override
real_type	ty_end () const override
real_type	nx_begin_ISO () const override
real_type	nx_end_ISO () const override
real_type	ny_begin_ISO () const override
real_type	ny_end_ISO () const override
real_type	theta0_begin () const
real_type	theta0_end () const
real_type	theta1_begin () const
real_type	theta1_end () const
real_type	theta2_begin () const
real_type	theta2_end () const
real_type	x0_begin () const
real_type	x0_end () const
real_type	y0_begin () const
real_type	y0_end () const
real_type	x1_begin () const
real_type	x1_end () const
real_type	y1_begin () const
real_type	y1_end () const
real_type	x2_begin () const
real_type	x2_end () const
real_type	y2_begin () const
real_type	y2_end () const
real_type	theta (real_type s) const override
real_type	theta_D (real_type) const override
real_type	theta_DD (real_type) const override
real_type	theta_DDD (real_type) const override
real_type	X (real_type s) const override
real_type	Y (real_type s) const override
real_type	X_D (real_type s) const override
real_type	Y_D (real_type s) const override
real_type	X_DD (real_type s) const override
real_type	Y_DD (real_type s) const override
real_type	X_DDD (real_type s) const override
real_type	Y_DDD (real_type s) const override
void	translate (real_type tx, real_type ty) override
	translate curve by \((t_x,t_y)\)
void	rotate (real_type angle, real_type cx, real_type cy) override
void	reverse () override
void	change_origin (real_type newx0, real_type newy0) override
void	trim (real_type, real_type) override
void	scale (real_type s) override
void	eval (real_type s, real_type &theta, real_type &kappa, real_type &x, real_type &y) const
void	eval (real_type s, real_type &x, real_type &y) const override
void	eval_D (real_type s, real_type &x_D, real_type &y_D) const override
void	eval_DD (real_type s, real_type &x_DD, real_type &y_DD) const override
void	eval_DDD (real_type s, real_type &x_DDD, real_type &y_DDD) const override
void	eval_ISO (real_type s, real_type offs, real_type &x, real_type &y) const override
void	eval_ISO_D (real_type s, real_type offs, real_type &x_D, real_type &y_D) const override
void	eval_ISO_DD (real_type s, real_type offs, real_type &x_DD, real_type &y_DD) const override
void	eval_ISO_DDD (real_type s, real_type offs, real_type &x_DDD, real_type &y_DDD) const override
void	bb_triangles (vector< Triangle2D > &tvec, real_type max_angle=Utils::m_pi/18, real_type max_size=1e100, integer icurve=0) const override
void	bb_triangles_ISO (real_type offs, vector< Triangle2D > &tvec, real_type max_angle=Utils::m_pi/18, real_type max_size=1e100, integer icurve=0) const override
void	bb_triangles_SAE (real_type offs, vector< Triangle2D > &tvec, real_type max_angle=Utils::m_pi/18, real_type max_size=1e100, integer icurve=0) const override
integer	closest_point_ISO (real_type qx, real_type qy, real_type &x, real_type &y, real_type &s, real_type &t, real_type &dst) const override
integer	closest_point_ISO (real_type qx, real_type qy, real_type offs, real_type &x, real_type &y, real_type &s, real_type &t, real_type &dst) const override
bool	collision (Dubins const &B) const
bool	collision_ISO (real_type offs, Dubins const &B, real_type offs_B) const
bool	collision (BaseCurve const *pC) const override
bool	collision_ISO (real_type offs, BaseCurve const *pC, real_type offs_C) const override
void	intersect (Dubins const &B, IntersectList &ilist) const
void	intersect_ISO (real_type offs, Dubins const &B, real_type offs_B, IntersectList &ilist) const
void	intersect (BaseCurve const *pC, IntersectList &ilist) const override
void	intersect_ISO (real_type offs, BaseCurve const *pC, real_type offs_LS, IntersectList &ilist) const override
string	info () const
void	info (ostream_type &stream) const override
CurveType	type () const override
Public Member Functions inherited from G2lib::BaseCurve
	BaseCurve (BaseCurve const &)=delete
BaseCurve const &	operator= (BaseCurve const &)=delete
	BaseCurve (string const &name)
void	build (GenericContainer const &gc)
string	name () const
string	type_name () const
real_type	length_SAE (real_type offs) const
void	bbox_SAE (real_type offs, real_type &xmin, real_type &ymin, real_type &xmax, real_type &ymax) const
virtual real_type	x_begin_ISO (real_type offs) const
virtual real_type	y_begin_ISO (real_type offs) const
virtual real_type	x_end_ISO (real_type offs) const
virtual real_type	y_end_ISO (real_type offs) const
real_type	x_begin_SAE (real_type offs) const
real_type	y_begin_SAE (real_type offs) const
real_type	x_end_SAE (real_type offs) const
real_type	y_end_SAE (real_type offs) const
real_type	nx_begin_SAE () const
real_type	ny_begin_SAE () const
real_type	nx_end_SAE () const
real_type	ny_end_SAE () const
real_type	kappa (real_type s) const
real_type	kappa_D (real_type s) const
real_type	kappa_DD (real_type s) const
virtual real_type	tx (real_type s) const
virtual real_type	ty (real_type s) const
virtual real_type	tx_D (real_type s) const
virtual real_type	ty_D (real_type s) const
virtual real_type	tx_DD (real_type s) const
virtual real_type	ty_DD (real_type s) const
virtual real_type	tx_DDD (real_type s) const
virtual real_type	ty_DDD (real_type s) const
real_type	nx_ISO (real_type s) const
real_type	nx_ISO_D (real_type s) const
real_type	nx_ISO_DD (real_type s) const
real_type	nx_ISO_DDD (real_type s) const
real_type	ny_ISO (real_type s) const
real_type	ny_ISO_D (real_type s) const
real_type	ny_ISO_DD (real_type s) const
real_type	ny_ISO_DDD (real_type s) const
real_type	nx_SAE (real_type s) const
real_type	nx_SAE_D (real_type s) const
real_type	nx_SAE_DD (real_type s) const
real_type	nx_SAE_DDD (real_type s) const
real_type	ny_SAE (real_type s) const
real_type	ny_SAE_D (real_type s) const
real_type	ny_SAE_DD (real_type s) const
real_type	ny_SAE_DDD (real_type s) const
virtual void	tg (real_type s, real_type &tg_x, real_type &tg_y) const
virtual void	tg_D (real_type s, real_type &tg_x_D, real_type &tg_y_D) const
virtual void	tg_DD (real_type s, real_type &tg_x_DD, real_type &tg_y_DD) const
virtual void	tg_DDD (real_type s, real_type &tg_x_DDD, real_type &tg_y_DDD) const
void	nor_ISO (real_type s, real_type &nx, real_type &ny) const
void	nor_ISO_D (real_type s, real_type &nx_D, real_type &ny_D) const
void	nor_ISO_DD (real_type s, real_type &nx_DD, real_type &ny_DD) const
void	nor_ISO_DDD (real_type s, real_type &nx_DDD, real_type &ny_DDD) const
void	nor_SAE (real_type s, real_type &nx, real_type &ny) const
void	nor_SAE_D (real_type s, real_type &nx_D, real_type &ny_D) const
void	nor_SAE_DD (real_type s, real_type &nx_DD, real_type &ny_DD) const
void	nor_SAE_DDD (real_type s, real_type &nx_DDD, real_type &ny_DDD) const
virtual void	evaluate (real_type s, real_type &th, real_type &k, real_type &x, real_type &y) const
virtual void	evaluate_ISO (real_type s, real_type offs, real_type &th, real_type &k, real_type &x, real_type &y) const
virtual void	evaluate_SAE (real_type s, real_type offs, real_type &th, real_type &k, real_type &x, real_type &y) const
virtual real_type	X_ISO (real_type s, real_type offs) const
virtual real_type	Y_ISO (real_type s, real_type offs) const
virtual real_type	X_ISO_D (real_type s, real_type offs) const
virtual real_type	Y_ISO_D (real_type s, real_type offs) const
virtual real_type	X_ISO_DD (real_type s, real_type offs) const
virtual real_type	Y_ISO_DD (real_type s, real_type offs) const
virtual real_type	X_ISO_DDD (real_type s, real_type offs) const
virtual real_type	Y_ISO_DDD (real_type s, real_type offs) const
real_type	X_SAE (real_type s, real_type offs) const
real_type	Y_SAE (real_type s, real_type offs) const
real_type	X_SAE_D (real_type s, real_type offs) const
real_type	Y_SAE_D (real_type s, real_type offs) const
real_type	X_SAE_DD (real_type s, real_type offs) const
real_type	Y_SAE_DD (real_type s, real_type offs) const
real_type	X_SAE_DDD (real_type s, real_type offs) const
real_type	Y_SAE_DDD (real_type s, real_type offs) const
void	eval_SAE (real_type s, real_type offs, real_type &x, real_type &y) const
void	eval_SAE_D (real_type s, real_type offs, real_type &x_D, real_type &y_D) const
void	eval_SAE_DD (real_type s, real_type offs, real_type &x_DD, real_type &y_DD) const
void	eval_SAE_DDD (real_type s, real_type offs, real_type &x_DDD, real_type &y_DDD) const
bool	collision_SAE (real_type offs, BaseCurve const *pC, real_type offs_C) const
void	intersect_SAE (real_type offs, BaseCurve const *pC, real_type offs_C, IntersectList &ilist) const
integer	closest_point_SAE (real_type qx, real_type qy, real_type &x, real_type &y, real_type &s, real_type &t, real_type &dst) const
integer	closest_point_SAE (real_type qx, real_type qy, real_type offs, real_type &x, real_type &y, real_type &s, real_type &t, real_type &dst) const
virtual real_type	distance (real_type qx, real_type qy) const
real_type	distance_ISO (real_type qx, real_type qy, real_type offs) const
real_type	distance_SAE (real_type qx, real_type qy, real_type offs) const
bool	findST_ISO (real_type x, real_type y, real_type &s, real_type &t) const
bool	findST_SAE (real_type x, real_type y, real_type &s, real_type &t) const

Friends
class	Dubins3p
ostream_type &	operator<< (ostream_type &stream, Dubins const &bi)

Detailed Description

Class to manage a Dubins curve

Constructor & Destructor Documentation

Dubins() [1/3]

G2lib::Dubins::Dubins ( )

delete

Three arc solution of DUBINS problem.

Build an empty circle

Dubins() [2/3]

G2lib::Dubins::Dubins ( Dubins const & s )

inline

Build a copy of an existing Dubins problem.

Dubins() [3/3]

G2lib::Dubins::Dubins ( real_type x0, real_type y0, real_type theta0, real_type x1, real_type y1, real_type theta1, real_type k_max, string const & name )

inlineexplicit

Construct a Dubins solution

Parameters

[in]	x0	initial position \(x\)-coordinate
[in]	y0	initial position \(y\)-coordinate
[in]	theta0	initial angle
[in]	x1	final position \(x\)-coordinate
[in]	y1	final position \(y\)-coordinate
[in]	theta1	final angle
[in]	k_max	max curvature
[in]	name	name of the Dubins object

Member Function Documentation

bb_triangles()

void G2lib::Dubins::bb_triangles ( vector< Triangle2D > & tvec, real_type max_angle = Utils::m_pi/18, real_type max_size = 1e100, integer icurve = 0 ) const

inlineoverridevirtual

Build a cover with triangles of the curve.

Parameters

[out]	tvec	list of covering triangles
[out]	max_angle	maximum angle variation of the curve covered by a triangle
[out]	max_size	maximum admissible size of the covering tirnagles
[out]	icurve	index of the covering triangles

'

Implements G2lib::BaseCurve.

bb_triangles_ISO()

void G2lib::Dubins::bb_triangles_ISO ( real_type offs, vector< Triangle2D > & tvec, real_type max_angle = Utils::m_pi/18, real_type max_size = 1e100, integer icurve = 0 ) const

inlineoverridevirtual

Build a cover with triangles of the curve with offset (ISO).

Parameters

[out]	offs	curve offset
[out]	tvec	list of covering triangles
[out]	max_angle	maximum angle variation of the curve covered by a triangle
[out]	max_size	maximum admissible size of the covering tirnagles
[out]	icurve	index of the covering triangles

Implements G2lib::BaseCurve.

bb_triangles_SAE()

void G2lib::Dubins::bb_triangles_SAE ( real_type offs, vector< Triangle2D > & tvec, real_type max_angle = Utils::m_pi/18, real_type max_size = 1e100, integer icurve = 0 ) const

inlineoverridevirtual

Build a cover with triangles of the curve with offset (SAE).

Parameters

[out]	offs	curve offset
[out]	tvec	list of covering triangles
[out]	max_angle	maximum angle variation of the arc covered by a triangle
[out]	max_size	maximum admissible size of the covering tirnagles
[out]	icurve	index of the covering triangles

Implements G2lib::BaseCurve.

bbox()

void G2lib::Dubins::bbox ( real_type & xmin, real_type & ymin, real_type & xmax, real_type & ymax ) const

overridevirtual

Compute the bounding box of the curve.

Parameters

[out]	xmin	left bottom
[out]	ymin	left bottom
[out]	xmax	right top
[out]	ymax	right top

Implements G2lib::BaseCurve.

bbox_ISO()

void G2lib::Dubins::bbox_ISO ( real_type offs, real_type & xmin, real_type & ymin, real_type & xmax, real_type & ymax ) const

overridevirtual

Compute the bounding box of the curve with offset (ISO).

Parameters

[in]	offs	curve offset
[out]	xmin	left bottom
[out]	ymin	left bottom
[out]	xmax	right top
[out]	ymax	right top

Implements G2lib::BaseCurve.

build()

bool G2lib::Dubins::build	(	real_type	x0,
		real_type	y0,
		real_type	theta0,
		real_type	x1,
		real_type	y1,
		real_type	theta1,
		real_type	k_max )

Construct a Dubins solution

Parameters

[in]	x0	initial position \(x\)-coordinate
[in]	y0	initial position \(y\)-coordinate
[in]	theta0	initial angle
[in]	x1	final position \(x\)-coordinate
[in]	y1	final position \(y\)-coordinate
[in]	theta1	final angle
[in]	k_max	max curvature

C0()

CircleArc const & G2lib::Dubins::C0 ( ) const

inline

Return the first cicle of the Dubins solution

C1()

CircleArc const & G2lib::Dubins::C1 ( ) const

inline

Return the second cicle of the Dubins solution

C2()

CircleArc const & G2lib::Dubins::C2 ( ) const

inline

Return the third cicle of the Dubins solution

change_origin()

void G2lib::Dubins::change_origin ( real_type newx0, real_type newy0 )

overridevirtual

Translate curve so that origin will be (newx0, newy0).

Implements G2lib::BaseCurve.

closest_point_ISO() [1/2]

integer G2lib::Dubins::closest_point_ISO ( real_type qx, real_type qy, real_type & x, real_type & y, real_type & s, real_type & t, real_type & dst ) const

overridevirtual

Given a point find closest point on the curve.

Parameters

qx	\(x\)-coordinate of the point
qy	\(y\)-coordinate of the point
x	\(x\)-coordinate of the projected point on the curve
y	\(y\)-coordinate of the projected point on the curve
s	parameter on the curve of the projection
t	curvilinear coordinate of the point x,y (if orthogonal projection)
dst	distance point projected point

Returns

1 = point is projected orthogonal 0 = more than one projection (first returned) -1 = minimum point is not othogonal projection to curve

Implements G2lib::BaseCurve.

closest_point_ISO() [2/2]

integer G2lib::Dubins::closest_point_ISO ( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, real_type & t, real_type & dst ) const

overridevirtual

Given a point find closest point on the curve.

Parameters

qx	\(x\)-coordinate of the point
qy	\(y\)-coordinate of the point
offs	offset of the curve
x	\(x\)-coordinate of the projected point on the curve
y	\(y\)-coordinate of the projected point on the curve
s	parameter on the curve of the projection
t	curvilinear coordinate of the point x,y (if orthogonal projection)
dst	distance point projected point

Returns

1 = point is projected orthogonal 0 = more than one projection (first returned) -1 = minimum point is not othogonal projection to curve

Implements G2lib::BaseCurve.

collision() [1/2]

bool G2lib::Dubins::collision ( BaseCurve const * pC ) const

overridevirtual

Check collision with another curve.

Implements G2lib::BaseCurve.

collision() [2/2]

bool G2lib::Dubins::collision

(

Dubins const &

B

)

const

Detect a collision with another biarc.

collision_ISO() [1/2]

bool G2lib::Dubins::collision_ISO ( real_type offs, BaseCurve const * pC, real_type offs_C ) const

overridevirtual

Check collision with another curve with offset (ISO).

Parameters

[in]	offs	curve offset
[in]	pC	second curve to check collision
[in]	offs_C	curve offset of the second curve

Returns

true if collision is detected

Implements G2lib::BaseCurve.

collision_ISO() [2/2]

bool G2lib::Dubins::collision_ISO	(	real_type	offs,
		Dubins const &	B,
		real_type	offs_B ) const

Detect a collision with another biarc with offset.

Parameters

[in]	offs	offset of first biarc
[in]	B	second biarc
[in]	offs_B	offset of second biarc

copy()

void G2lib::Dubins::copy ( Dubins const & d )

inline

Make a copy of an existing Dubins solution.

eval()

void G2lib::Dubins::eval ( real_type s, real_type & x, real_type & y ) const

overridevirtual

x and \(y\)-coordinate at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

eval_D()

void G2lib::Dubins::eval_D ( real_type s, real_type & x_D, real_type & y_D ) const

overridevirtual

x and \(y\)-coordinate derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

eval_DD()

void G2lib::Dubins::eval_DD ( real_type s, real_type & x_DD, real_type & y_DD ) const

overridevirtual

x and \(y\)-coordinate second derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

eval_DDD()

void G2lib::Dubins::eval_DDD ( real_type s, real_type & x_DDD, real_type & y_DDD ) const

overridevirtual

x and \(y\)-coordinate third derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

eval_ISO()

void G2lib::Dubins::eval_ISO ( real_type s, real_type offs, real_type & x, real_type & y ) const

overridevirtual

Compute curve at position s with offset offs (ISO).

Parameters

[in]	s	parameter on the curve
[in]	offs	offset of the curve
[out]	x	coordinate
[out]	y	coordinate

Reimplemented from G2lib::BaseCurve.

eval_ISO_D()

void G2lib::Dubins::eval_ISO_D ( real_type s, real_type offs, real_type & x_D, real_type & y_D ) const

overridevirtual

Compute derivative curve at position s with offset offs (ISO).

Parameters

[in]	s	parameter on the curve
[in]	offs	offset of the curve
[out]	x_D	\(x\)-coordinate
[out]	y_D	\(y\)-coordinate

Reimplemented from G2lib::BaseCurve.

eval_ISO_DD()

void G2lib::Dubins::eval_ISO_DD ( real_type s, real_type offs, real_type & x_DD, real_type & y_DD ) const

overridevirtual

Compute second derivative curve at position s with offset offs (ISO).

Parameters

[in]	s	parameter on the curve
[in]	offs	offset of the curve
[out]	x_DD	\(x\)-coordinate second derivative
[out]	y_DD	\(y\)-coordinate second derivative

Reimplemented from G2lib::BaseCurve.

eval_ISO_DDD()

void G2lib::Dubins::eval_ISO_DDD ( real_type s, real_type offs, real_type & x_DDD, real_type & y_DDD ) const

overridevirtual

Compute third derivative curve at position s with offset offs (ISO).

Parameters

[in]	s	parameter on the curve
[in]	offs	offset of the curve
[out]	x_DDD	\(x\)-coordinate third derivative
[out]	y_DDD	\(y\)-coordinate third derivative

Reimplemented from G2lib::BaseCurve.

get_range_angles_begin()

integer G2lib::Dubins::get_range_angles_begin	(	real_type	x0,
		real_type	y0,
		real_type	x1,
		real_type	y1,
		real_type	theta1,
		real_type	k_max,
		real_type	angles[] ) const

Construct a Dubins solution

Parameters

[in]	x0	initial position \(x\)-coordinate
[in]	y0	initial position \(y\)-coordinate
[in]	x1	final position \(x\)-coordinate
[in]	y1	final position \(y\)-coordinate
[in]	theta1	final angle
[in]	k_max	max curvature
[out]	angles	range points

Returns

number of range points

get_range_angles_end()

integer G2lib::Dubins::get_range_angles_end	(	real_type	x0,
		real_type	y0,
		real_type	theta0,
		real_type	x1,
		real_type	y1,
		real_type	k_max,
		real_type	angles[] ) const

Construct a Dubins solution

Parameters

[in]	x0	initial position \(x\)-coordinate
[in]	y0	initial position \(y\)-coordinate
[in]	theta0	initial angle
[in]	x1	final position \(x\)-coordinate
[in]	y1	final position \(y\)-coordinate
[in]	k_max	max curvature
[out]	angles	range points

Returns

number of range points

info()

void G2lib::Dubins::info ( ostream_type & stream ) const

inlineoverridevirtual

Pretty print of the curve data.

Implements G2lib::BaseCurve.

intersect() [1/2]

void G2lib::Dubins::intersect ( BaseCurve const * pC, IntersectList & ilist ) const

overridevirtual

Intersect the curve with another curve.

Parameters

[in]	pC	second curve intersect
[out]	ilist	list of the intersection (as parameter on the curves)

Implements G2lib::BaseCurve.

intersect() [2/2]

void G2lib::Dubins::intersect	(	Dubins const &	B,
		IntersectList &	ilist ) const

Intersect a biarc with another biarc.

Parameters

[in]	B	second biarc
[out]	ilist	list of the intersection (as parameter on the curves)

intersect_ISO() [1/2]

void G2lib::Dubins::intersect_ISO ( real_type offs, BaseCurve const * pC, real_type offs_C, IntersectList & ilist ) const

overridevirtual

Intersect the curve with another curve with offset (ISO)

Parameters

[in]	offs	offset first curve
[in]	pC	second curve intersect
[in]	offs_C	offset second curve
[out]	ilist	list of the intersection (as parameter on the curves)

Implements G2lib::BaseCurve.

intersect_ISO() [2/2]

void G2lib::Dubins::intersect_ISO	(	real_type	offs,
		Dubins const &	B,
		real_type	offs_B,
		IntersectList &	ilist ) const

Intersect a biarc with another biarc with offset (ISO).

Parameters

[in]	offs	offset of first biarc
[in]	B	second Dubins
[in]	offs_B	offset of second biarc
[out]	ilist	list of the intersection (as parameter on the curves)

kappa_begin()

real_type G2lib::Dubins::kappa_begin ( ) const

inlineoverridevirtual

Initial curvature.

Reimplemented from G2lib::BaseCurve.

kappa_end()

real_type G2lib::Dubins::kappa_end ( ) const

inlineoverridevirtual

Final curvature.

Reimplemented from G2lib::BaseCurve.

length()

real_type G2lib::Dubins::length ( ) const

inlineoverridevirtual

The length of the curve

Implements G2lib::BaseCurve.

length_ISO()

real_type G2lib::Dubins::length_ISO ( real_type offs ) const

overridevirtual

The length of the curve with offset (ISO)

Implements G2lib::BaseCurve.

nx_begin_ISO()

real_type G2lib::Dubins::nx_begin_ISO ( ) const

inlineoverridevirtual

Intial normal \(x\)-coordinate (ISO).

Reimplemented from G2lib::BaseCurve.

nx_end_ISO()

real_type G2lib::Dubins::nx_end_ISO ( ) const

inlineoverridevirtual

Final normal \(x\)-coordinate (ISO).

Reimplemented from G2lib::BaseCurve.

ny_begin_ISO()

real_type G2lib::Dubins::ny_begin_ISO ( ) const

inlineoverridevirtual

Intial normal \(y\)-coordinate (ISO).

Reimplemented from G2lib::BaseCurve.

ny_end_ISO()

real_type G2lib::Dubins::ny_end_ISO ( ) const

inlineoverridevirtual

Final normal \(y\)-coordinate (ISO).

Reimplemented from G2lib::BaseCurve.

reverse()

void G2lib::Dubins::reverse ( )

overridevirtual

Reverse curve parameterization.

Implements G2lib::BaseCurve.

rotate()

void G2lib::Dubins::rotate ( real_type angle, real_type cx, real_type cy )

inlineoverridevirtual

Rotate curve by angle \(\theta\) centered at point \((c_x,c_y)\).

Parameters

[in]	angle	angle \(\theta\)
[in]	cx	\(c_x\)
[in]	cy	\(c_y\)

Implements G2lib::BaseCurve.

scale()

void G2lib::Dubins::scale ( real_type sc )

overridevirtual

Scale curve by factor sc.

Implements G2lib::BaseCurve.

setup()

void G2lib::Dubins::setup ( GenericContainer const & gc )

overridevirtual

Implements G2lib::BaseCurve.

theta()

real_type G2lib::Dubins::theta ( real_type s ) const

overridevirtual

Angle at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

theta_begin()

real_type G2lib::Dubins::theta_begin ( ) const

inlineoverridevirtual

Initial angle of the curve.

Reimplemented from G2lib::BaseCurve.

theta_D()

real_type G2lib::Dubins::theta_D ( real_type s ) const

overridevirtual

Angle derivative (curvature) at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

theta_DD()

real_type G2lib::Dubins::theta_DD ( real_type s ) const

inlineoverridevirtual

Angle second derivative (devitive of curvature) at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

theta_DDD()

real_type G2lib::Dubins::theta_DDD ( real_type s ) const

inlineoverridevirtual

Angle third derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

theta_end()

real_type G2lib::Dubins::theta_end ( ) const

inlineoverridevirtual

Final angle of the curve.

Reimplemented from G2lib::BaseCurve.

translate()

void G2lib::Dubins::translate ( real_type tx, real_type ty )

inlineoverridevirtual

translate curve by \((t_x,t_y)\)

Implements G2lib::BaseCurve.

trim()

void G2lib::Dubins::trim ( real_type s_begin, real_type s_end )

overridevirtual

Cut curve at parametric coordinate s_begin and s_end.

Implements G2lib::BaseCurve.

tx_begin()

real_type G2lib::Dubins::tx_begin ( ) const

inlineoverridevirtual

Initial tangent \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

tx_end()

real_type G2lib::Dubins::tx_end ( ) const

inlineoverridevirtual

Final tangent \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

ty_begin()

real_type G2lib::Dubins::ty_begin ( ) const

inlineoverridevirtual

Initial tangent \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

ty_end()

real_type G2lib::Dubins::ty_end ( ) const

inlineoverridevirtual

Final tangent \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

type()

CurveType G2lib::Dubins::type ( ) const

inlineoverridevirtual

The name of the curve type

Implements G2lib::BaseCurve.

X()

real_type G2lib::Dubins::X ( real_type s ) const

overridevirtual

\(x\)-coordinate at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

x_begin()

real_type G2lib::Dubins::x_begin ( ) const

inlineoverridevirtual

Initial \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

X_D()

real_type G2lib::Dubins::X_D ( real_type s ) const

overridevirtual

\(x\)-coordinate derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

X_DD()

real_type G2lib::Dubins::X_DD ( real_type s ) const

overridevirtual

\(x\)-coordinate second derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

X_DDD()

real_type G2lib::Dubins::X_DDD ( real_type s ) const

overridevirtual

\(x\)-coordinate third derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

x_end()

real_type G2lib::Dubins::x_end ( ) const

inlineoverridevirtual

Final \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

Y()

real_type G2lib::Dubins::Y ( real_type s ) const

overridevirtual

\(y\)-coordinate at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

y_begin()

real_type G2lib::Dubins::y_begin ( ) const

inlineoverridevirtual

Initial \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

Y_D()

real_type G2lib::Dubins::Y_D ( real_type s ) const

overridevirtual

\(y\)-coordinate derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

Y_DD()

real_type G2lib::Dubins::Y_DD ( real_type s ) const

overridevirtual

\(y\)-coordinate second derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

Y_DDD()

real_type G2lib::Dubins::Y_DDD ( real_type s ) const

overridevirtual

\(y\)-coordinate third derivative at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

y_end()

real_type G2lib::Dubins::y_end ( ) const

inlineoverridevirtual

Final \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

Friends And Related Symbol Documentation

operator<<

ostream_type & operator<< ( ostream_type & stream, Dubins const & bi )

friend

Print on strem the Dubins object

Parameters

stream	the output stream
bi	an instance of Dubins object

Returns

the output stream

---

The documentation for this class was generated from the following files:

• /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/Clothoids/Dubins.hxx
• /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/Dubins.cc