Member List

Clothoids: Member List
Clothoids
G2lib::Dubins3p Member List

This is the complete list of members for G2lib::Dubins3p, including all inherited members.

BaseCurve()=delete (defined in G2lib::BaseCurve)G2lib::BaseCurve
BaseCurve(BaseCurve const &)=delete (defined in G2lib::BaseCurve)G2lib::BaseCurve
BaseCurve(string const &name)G2lib::BaseCurveinline
bb_triangles(vector< Triangle2D > &tvec, real_type max_angle=Utils::m_pi/18, real_type max_size=1e100, integer icurve=0) const overrideG2lib::Dubins3pinlinevirtual
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 overrideG2lib::Dubins3pinlinevirtual
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 overrideG2lib::Dubins3pinlinevirtual
bbox(real_type &xmin, real_type &ymin, real_type &xmax, real_type &ymax) const overrideG2lib::Dubins3pvirtual
bbox_ISO(real_type offs, real_type &xmin, real_type &ymin, real_type &xmax, real_type &ymax) const overrideG2lib::Dubins3pvirtual
bbox_SAE(real_type offs, real_type &xmin, real_type &ymin, real_type &xmax, real_type &ymax) constG2lib::BaseCurveinline
build(real_type xi, real_type yi, real_type thetai, real_type xm, real_type ym, real_type xf, real_type yf, real_type thetaf, real_type k_max, Dubins3pBuildType method)G2lib::Dubins3p
build(LineSegment const &L) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(CircleArc const &C) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(ClothoidCurve const &) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(Biarc const &) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(BiarcList const &) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(PolyLine const &) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(ClothoidList const &) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(Dubins const &) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(Dubins3p const &) (defined in G2lib::Dubins3p)G2lib::Dubins3p
build(GenericContainer const &gc) (defined in G2lib::BaseCurve)G2lib::BaseCurveinline
C0() constG2lib::Dubins3pinline
C1() constG2lib::Dubins3pinline
C2() constG2lib::Dubins3pinline
C3() constG2lib::Dubins3pinline
C4() constG2lib::Dubins3pinline
C5() constG2lib::Dubins3pinline
change_origin(real_type newx0, real_type newy0) overrideG2lib::Dubins3pvirtual
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 overrideG2lib::Dubins3pvirtual
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 overrideG2lib::Dubins3pvirtual
closest_point_SAE(real_type qx, real_type qy, real_type &x, real_type &y, real_type &s, real_type &t, real_type &dst) constG2lib::BaseCurveinline
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) constG2lib::BaseCurveinline
collision(Dubins3p const &B) constG2lib::Dubins3p
collision(BaseCurve const *pC) const overrideG2lib::Dubins3pvirtual
collision_ISO(real_type offs, Dubins3p const &B, real_type offs_B) constG2lib::Dubins3p
collision_ISO(real_type offs, BaseCurve const *pC, real_type offs_C) const overrideG2lib::Dubins3pvirtual
collision_SAE(real_type offs, BaseCurve const *pC, real_type offs_C) constG2lib::BaseCurveinline
copy(Dubins3p const &d3p)G2lib::Dubins3pinline
distance(real_type qx, real_type qy) constG2lib::BaseCurveinlinevirtual
distance_ISO(real_type qx, real_type qy, real_type offs) constG2lib::BaseCurveinline
distance_SAE(real_type qx, real_type qy, real_type offs) constG2lib::BaseCurveinline
Dubins3p()=deleteG2lib::Dubins3p
Dubins3p(string const &name) (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
Dubins3p(Dubins3p const &s)G2lib::Dubins3pinline
Dubins3p(real_type xi, real_type yi, real_type thetai, real_type xm, real_type ym, real_type xf, real_type yf, real_type thetaf, real_type k_max, Dubins3pBuildType method, string const &name)G2lib::Dubins3pinlineexplicit
eval(real_type s, real_type &theta, real_type &kappa, real_type &x, real_type &y) const (defined in G2lib::Dubins3p)G2lib::Dubins3p
eval(real_type s, real_type &x, real_type &y) const overrideG2lib::Dubins3pvirtual
eval_D(real_type s, real_type &x_D, real_type &y_D) const overrideG2lib::Dubins3pvirtual
eval_DD(real_type s, real_type &x_DD, real_type &y_DD) const overrideG2lib::Dubins3pvirtual
eval_DDD(real_type s, real_type &x_DDD, real_type &y_DDD) const overrideG2lib::Dubins3pvirtual
eval_ISO(real_type s, real_type offs, real_type &x, real_type &y) const overrideG2lib::Dubins3pvirtual
eval_ISO_D(real_type s, real_type offs, real_type &x_D, real_type &y_D) const overrideG2lib::Dubins3pvirtual
eval_ISO_DD(real_type s, real_type offs, real_type &x_DD, real_type &y_DD) const overrideG2lib::Dubins3pvirtual
eval_ISO_DDD(real_type s, real_type offs, real_type &x_DDD, real_type &y_DDD) const overrideG2lib::Dubins3pvirtual
eval_SAE(real_type s, real_type offs, real_type &x, real_type &y) constG2lib::BaseCurveinline
eval_SAE_D(real_type s, real_type offs, real_type &x_D, real_type &y_D) constG2lib::BaseCurveinline
eval_SAE_DD(real_type s, real_type offs, real_type &x_DD, real_type &y_DD) constG2lib::BaseCurveinline
eval_SAE_DDD(real_type s, real_type offs, real_type &x_DDD, real_type &y_DDD) constG2lib::BaseCurveinline
evaluate(real_type s, real_type &th, real_type &k, real_type &x, real_type &y) constG2lib::BaseCurveinlinevirtual
evaluate_ISO(real_type s, real_type offs, real_type &th, real_type &k, real_type &x, real_type &y) constG2lib::BaseCurveinlinevirtual
evaluate_SAE(real_type s, real_type offs, real_type &th, real_type &k, real_type &x, real_type &y) constG2lib::BaseCurveinlinevirtual
findST_ISO(real_type x, real_type y, real_type &s, real_type &t) constG2lib::BaseCurveinline
findST_SAE(real_type x, real_type y, real_type &s, real_type &t) constG2lib::BaseCurveinline
get_range_angles(real_type xi, real_type yi, real_type thetai, real_type xm, real_type ym, real_type xf, real_type yf, real_type thetaf, real_type k_max, real_type angles[]) constG2lib::Dubins3p
get_sample_angles(real_type xi, real_type yi, real_type thetai, real_type xm, real_type ym, real_type xf, real_type yf, real_type thetaf, real_type k_max, real_type tolerance, vector< real_type > &angles) constG2lib::Dubins3p
get_solution(ClothoidList &CL) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
icode() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
icode0() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
icode1() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
info() const (defined in G2lib::Dubins3p)G2lib::Dubins3p
info(ostream_type &stream) const overrideG2lib::Dubins3pinlinevirtual
intersect(Dubins3p const &B, IntersectList &ilist) constG2lib::Dubins3p
intersect(BaseCurve const *pC, IntersectList &ilist) const overrideG2lib::Dubins3pvirtual
intersect_ISO(real_type offs, Dubins3p const &B, real_type offs_B, IntersectList &ilist) constG2lib::Dubins3p
intersect_ISO(real_type offs, BaseCurve const *pC, real_type offs_LS, IntersectList &ilist) const overrideG2lib::Dubins3pvirtual
intersect_SAE(real_type offs, BaseCurve const *pC, real_type offs_C, IntersectList &ilist) constG2lib::BaseCurveinline
kappa(real_type s) constG2lib::BaseCurveinline
kappa0() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
kappa1() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
kappa2() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
kappa3() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
kappa4() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
kappa5() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
kappa_begin() const overrideG2lib::Dubins3pinlinevirtual
kappa_D(real_type s) constG2lib::BaseCurveinline
kappa_DD(real_type s) constG2lib::BaseCurveinline
kappa_end() const overrideG2lib::Dubins3pinlinevirtual
length() const overrideG2lib::Dubins3pvirtual
length0() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
length1() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
length2() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
length3() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
length4() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
length5() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
length_ISO(real_type offs) const overrideG2lib::Dubins3pvirtual
length_SAE(real_type offs) constG2lib::BaseCurveinline
max_num_evaluation() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
name() const (defined in G2lib::BaseCurve)G2lib::BaseCurveinline
nor_ISO(real_type s, real_type &nx, real_type &ny) constG2lib::BaseCurveinline
nor_ISO_D(real_type s, real_type &nx_D, real_type &ny_D) constG2lib::BaseCurveinline
nor_ISO_DD(real_type s, real_type &nx_DD, real_type &ny_DD) constG2lib::BaseCurveinline
nor_ISO_DDD(real_type s, real_type &nx_DDD, real_type &ny_DDD) constG2lib::BaseCurveinline
nor_SAE(real_type s, real_type &nx, real_type &ny) constG2lib::BaseCurveinline
nor_SAE_D(real_type s, real_type &nx_D, real_type &ny_D) constG2lib::BaseCurveinline
nor_SAE_DD(real_type s, real_type &nx_DD, real_type &ny_DD) constG2lib::BaseCurveinline
nor_SAE_DDD(real_type s, real_type &nx_DDD, real_type &ny_DDD) constG2lib::BaseCurveinline
num_evaluation() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
nx_begin_ISO() const overrideG2lib::Dubins3pinlinevirtual
nx_begin_SAE() constG2lib::BaseCurveinline
nx_end_ISO() const overrideG2lib::Dubins3pinlinevirtual
nx_end_SAE() constG2lib::BaseCurveinline
nx_ISO(real_type s) constG2lib::BaseCurveinline
nx_ISO_D(real_type s) constG2lib::BaseCurveinline
nx_ISO_DD(real_type s) constG2lib::BaseCurveinline
nx_ISO_DDD(real_type s) constG2lib::BaseCurveinline
nx_SAE(real_type s) constG2lib::BaseCurveinline
nx_SAE_D(real_type s) constG2lib::BaseCurveinline
nx_SAE_DD(real_type s) constG2lib::BaseCurveinline
nx_SAE_DDD(real_type s) constG2lib::BaseCurveinline
ny_begin_ISO() const overrideG2lib::Dubins3pinlinevirtual
ny_begin_SAE() constG2lib::BaseCurveinline
ny_end_ISO() const overrideG2lib::Dubins3pinlinevirtual
ny_end_SAE() constG2lib::BaseCurveinline
ny_ISO(real_type s) constG2lib::BaseCurveinline
ny_ISO_D(real_type s) constG2lib::BaseCurveinline
ny_ISO_DD(real_type s) constG2lib::BaseCurveinline
ny_ISO_DDD(real_type s) constG2lib::BaseCurveinline
ny_SAE(real_type s) constG2lib::BaseCurveinline
ny_SAE_D(real_type s) constG2lib::BaseCurveinline
ny_SAE_DD(real_type s) constG2lib::BaseCurveinline
ny_SAE_DDD(real_type s) constG2lib::BaseCurveinline
operator<<(ostream_type &stream, Dubins3p const &bi)G2lib::Dubins3pfriend
operator=(BaseCurve const &)=delete (defined in G2lib::BaseCurve)G2lib::BaseCurve
reverse() overrideG2lib::Dubins3pvirtual
rotate(real_type angle, real_type cx, real_type cy) overrideG2lib::Dubins3pinlinevirtual
sample_angle() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
scale(real_type s) overrideG2lib::Dubins3pvirtual
set_max_evaluation(integer max_eval) (defined in G2lib::Dubins3p)G2lib::Dubins3p
set_sample_angle(real_type ang) (defined in G2lib::Dubins3p)G2lib::Dubins3p
set_sample_points(integer npts) (defined in G2lib::Dubins3p)G2lib::Dubins3p
set_tolerance(real_type tol) (defined in G2lib::Dubins3p)G2lib::Dubins3p
setup(GenericContainer const &gc) override (defined in G2lib::Dubins3p)G2lib::Dubins3pvirtual
solution_type0() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
solution_type1() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
solution_type_string() const (defined in G2lib::Dubins3p)G2lib::Dubins3p
solution_type_string_short() const (defined in G2lib::Dubins3p)G2lib::Dubins3p
tg(real_type s, real_type &tg_x, real_type &tg_y) constG2lib::BaseCurveinlinevirtual
tg_D(real_type s, real_type &tg_x_D, real_type &tg_y_D) constG2lib::BaseCurveinlinevirtual
tg_DD(real_type s, real_type &tg_x_DD, real_type &tg_y_DD) constG2lib::BaseCurveinlinevirtual
tg_DDD(real_type s, real_type &tg_x_DDD, real_type &tg_y_DDD) constG2lib::BaseCurveinlinevirtual
theta(real_type s) const overrideG2lib::Dubins3pvirtual
theta0(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta0_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta0_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta1(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta1_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta1_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta2(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta2_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta2_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta3(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta3_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta3_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta4(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta4_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta4_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta5(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta5_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta5_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
theta_begin() const overrideG2lib::Dubins3pinlinevirtual
theta_D(real_type) const overrideG2lib::Dubins3pvirtual
theta_DD(real_type) const overrideG2lib::Dubins3pinlinevirtual
theta_DDD(real_type) const overrideG2lib::Dubins3pinlinevirtual
theta_end() const overrideG2lib::Dubins3pinlinevirtual
tolerance() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
translate(real_type tx, real_type ty) overrideG2lib::Dubins3pinlinevirtual
trim(real_type, real_type) overrideG2lib::Dubins3pvirtual
tx(real_type s) constG2lib::BaseCurvevirtual
tx_begin() const overrideG2lib::Dubins3pinlinevirtual
tx_D(real_type s) constG2lib::BaseCurvevirtual
tx_DD(real_type s) constG2lib::BaseCurvevirtual
tx_DDD(real_type s) constG2lib::BaseCurvevirtual
tx_end() const overrideG2lib::Dubins3pinlinevirtual
ty(real_type s) constG2lib::BaseCurvevirtual
ty_begin() const overrideG2lib::Dubins3pinlinevirtual
ty_D(real_type s) constG2lib::BaseCurvevirtual
ty_DD(real_type s) constG2lib::BaseCurvevirtual
ty_DDD(real_type s) constG2lib::BaseCurvevirtual
ty_end() const overrideG2lib::Dubins3pinlinevirtual
type() const overrideG2lib::Dubins3pinlinevirtual
type_name() const (defined in G2lib::BaseCurve)G2lib::BaseCurveinline
X(real_type s) const overrideG2lib::Dubins3pvirtual
X0(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x0_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x0_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
X1(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x1_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x1_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
X2(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x2_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x2_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
X3(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x3_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x3_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
X4(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x4_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x4_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
X5(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x5_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x5_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
x_begin() const overrideG2lib::Dubins3pinlinevirtual
x_begin_ISO(real_type offs) constG2lib::BaseCurveinlinevirtual
x_begin_SAE(real_type offs) constG2lib::BaseCurveinline
X_D(real_type s) const overrideG2lib::Dubins3pvirtual
X_DD(real_type s) const overrideG2lib::Dubins3pvirtual
X_DDD(real_type s) const overrideG2lib::Dubins3pvirtual
x_end() const overrideG2lib::Dubins3pinlinevirtual
x_end_ISO(real_type offs) constG2lib::BaseCurveinlinevirtual
x_end_SAE(real_type offs) constG2lib::BaseCurveinline
X_ISO(real_type s, real_type offs) constG2lib::BaseCurvevirtual
X_ISO_D(real_type s, real_type offs) constG2lib::BaseCurvevirtual
X_ISO_DD(real_type s, real_type offs) constG2lib::BaseCurvevirtual
X_ISO_DDD(real_type s, real_type offs) constG2lib::BaseCurvevirtual
X_SAE(real_type s, real_type offs) constG2lib::BaseCurveinline
X_SAE_D(real_type s, real_type offs) constG2lib::BaseCurveinline
X_SAE_DD(real_type s, real_type offs) constG2lib::BaseCurveinline
X_SAE_DDD(real_type s, real_type offs) constG2lib::BaseCurveinline
Y(real_type s) const overrideG2lib::Dubins3pvirtual
Y0(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y0_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y0_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
Y1(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y1_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y1_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
Y2(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y2_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y2_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
Y3(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y3_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y3_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
Y4(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y4_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y4_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
Y5(real_type s) const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y5_begin() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y5_end() const (defined in G2lib::Dubins3p)G2lib::Dubins3pinline
y_begin() const overrideG2lib::Dubins3pinlinevirtual
y_begin_ISO(real_type offs) constG2lib::BaseCurveinlinevirtual
y_begin_SAE(real_type offs) constG2lib::BaseCurveinline
Y_D(real_type s) const overrideG2lib::Dubins3pvirtual
Y_DD(real_type s) const overrideG2lib::Dubins3pvirtual
Y_DDD(real_type s) const overrideG2lib::Dubins3pvirtual
y_end() const overrideG2lib::Dubins3pinlinevirtual
y_end_ISO(real_type offs) constG2lib::BaseCurveinlinevirtual
y_end_SAE(real_type offs) constG2lib::BaseCurveinline
Y_ISO(real_type s, real_type offs) constG2lib::BaseCurvevirtual
Y_ISO_D(real_type s, real_type offs) constG2lib::BaseCurvevirtual
Y_ISO_DD(real_type s, real_type offs) constG2lib::BaseCurvevirtual
Y_ISO_DDD(real_type s, real_type offs) constG2lib::BaseCurvevirtual
Y_SAE(real_type s, real_type offs) constG2lib::BaseCurveinline
Y_SAE_D(real_type s, real_type offs) constG2lib::BaseCurveinline
Y_SAE_DD(real_type s, real_type offs) constG2lib::BaseCurveinline
Y_SAE_DDD(real_type s, real_type offs) constG2lib::BaseCurveinline
~BaseCurve()=default (defined in G2lib::BaseCurve)G2lib::BaseCurvevirtual