Dubins3p Class Reference

Clothoids: G2lib::Dubins3p Class Reference

Clothoids

#include <Dubins3p.hxx>

Inheritance diagram for G2lib::Dubins3p:

Public Member Functions
	Dubins3p ()=delete

	Dubins3p (string const &name)

void	setup (GenericContainer const &gc) override

	Dubins3p (Dubins3p const &s)

	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)

void	copy (Dubins3p const &d3p)

bool	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)

void	set_tolerance (real_type tol)

void	set_sample_angle (real_type ang)

void	set_max_evaluation (integer max_eval)

void	set_sample_points (integer npts)

real_type	tolerance () const

real_type	sample_angle () const

DubinsType	solution_type0 () const

DubinsType	solution_type1 () const

integer	icode () const

integer	icode0 () const

integer	icode1 () const

integer	num_evaluation () const

integer	max_num_evaluation () const

string	solution_type_string () const

string	solution_type_string_short () 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 &)

integer	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[]) const

void	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) 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
	Return the first cicle of the Dubins solution.

CircleArc const &	C1 () const
	Return the second cicle of the Dubins solution.

CircleArc const &	C2 () const
	Return the third cicle of the Dubins solution.

CircleArc const &	C3 () const
	Return the first cicle of the Dubins solution.

CircleArc const &	C4 () const
	Return the seco4d cicle of the Dubins solution.

CircleArc const &	C5 () const
	Return the third cicle of the Dubins solution.

void	get_solution (ClothoidList &CL) const

real_type	length () const override

real_type	length_ISO (real_type offs) const override

real_type	length0 () const

real_type	length1 () const

real_type	length2 () const

real_type	length3 () const

real_type	length4 () const

real_type	length5 () const

real_type	kappa0 () const

real_type	kappa1 () const

real_type	kappa2 () const

real_type	kappa3 () const

real_type	kappa4 () const

real_type	kappa5 () 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	X3 (real_type s) const

real_type	Y3 (real_type s) const

real_type	X4 (real_type s) const

real_type	Y4 (real_type s) const

real_type	X5 (real_type s) const

real_type	Y5 (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	theta3 (real_type s) const

real_type	theta4 (real_type s) const

real_type	theta5 (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	theta3_begin () const

real_type	theta3_end () const

real_type	theta4_begin () const

real_type	theta4_end () const

real_type	theta5_begin () const

real_type	theta5_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	x3_begin () const

real_type	x3_end () const

real_type	y3_begin () const

real_type	y3_end () const

real_type	x4_begin () const

real_type	x4_end () const

real_type	y4_begin () const

real_type	y4_end () const

real_type	x5_begin () const

real_type	x5_end () const

real_type	y5_begin () const

real_type	y5_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 (Dubins3p const &B) const

bool	collision_ISO (real_type offs, Dubins3p 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 (Dubins3p const &B, IntersectList &ilist) const

void	intersect_ISO (real_type offs, Dubins3p 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
ostream_type &	operator<< (ostream_type &stream, Dubins3p const &bi)

Detailed Description

Class to manage a circle arc

Constructor & Destructor Documentation

◆ Dubins3p() [1/3]

G2lib::Dubins3p::Dubins3p ( )

delete

Build an empty circle

◆ Dubins3p() [2/3]

G2lib::Dubins3p::Dubins3p ( Dubins3p const & s )

inline

Build a copy of an existing Dubins problem.

◆ Dubins3p() [3/3]

G2lib::Dubins3p::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 )

inlineexplicit

Construct a Dubins3p solution

Parameters

[in]	xi	initial position \(x\)-coordinate
[in]	yi	initial position \(y\)-coordinate
[in]	thetai	initial angle
[in]	xm	intermediate position \(x\)-coordinate
[in]	ym	intermediate position \(y\)-coordinate
[in]	xf	final position \(x\)-coordinate
[in]	yf	final position \(y\)-coordinate
[in]	thetaf	final angle
[in]	k_max	max curvature
[in]	method	construction method
[in]	name	name of the 3 points Dubins object

Member Function Documentation

◆ bb_triangles()

void G2lib::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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 )

Construct a Dubins3p solution

Parameters

[in]	xi	initial position \(x\)-coordinate
[in]	yi	initial position \(y\)-coordinate
[in]	thetai	initial angle
[in]	xm	intermediate position \(x\)-coordinate
[in]	ym	intermediate position \(y\)-coordinate
[in]	xf	final position \(x\)-coordinate
[in]	yf	final position \(y\)-coordinate
[in]	thetaf	final angle
[in]	k_max	max curvature
[in]	method	construction method

◆ change_origin()

void G2lib::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::collision ( BaseCurve const * pC ) const

overridevirtual

Check collision with another curve.

Implements G2lib::BaseCurve.

◆ collision() [2/2]

bool G2lib::Dubins3p::collision ( Dubins3p const & B ) const

Detect a collision with another biarc.

◆ collision_ISO() [1/2]

bool G2lib::Dubins3p::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::Dubins3p::collision_ISO	(	real_type	offs,
		Dubins3p 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::Dubins3p::copy ( Dubins3p const & d3p )

inline

Make a copy of an existing Dubins solution.

◆ eval()

void G2lib::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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::Dubins3p::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()

integer G2lib::Dubins3p::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[] ) const

Get possible point of discontinuity for the length

Parameters

[in]	xi	initial position \(x\)-coordinate
[in]	yi	initial position \(y\)-coordinate
[in]	thetai	initial angle
[in]	xm	intermediate position \(x\)-coordinate
[in]	ym	intermediate position \(y\)-coordinate
[in]	xf	final position \(x\)-coordinate
[in]	yf	final position \(y\)-coordinate
[in]	thetaf	final angle
[in]	k_max	max curvature
[out]	angles	angles of possibile dicontinuity

Returns: number of point computed

◆ get_sample_angles()

void G2lib::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 ) const

Get sample point for length minimization

Parameters

[in]	xi	initial position \(x\)-coordinate
[in]	yi	initial position \(y\)-coordinate
[in]	thetai	initial angle
[in]	xm	intermediate position \(x\)-coordinate
[in]	ym	intermediate position \(y\)-coordinate
[in]	xf	final position \(x\)-coordinate
[in]	yf	final position \(y\)-coordinate
[in]	thetaf	final angle
[in]	k_max	max curvature
[in]	tolerance	tolerance angle used in point approximaton
[out]	angles	sample points

◆ info()

void G2lib::Dubins3p::info ( ostream_type & stream ) const

inlineoverridevirtual

Pretty print of the curve data.

Implements G2lib::BaseCurve.

◆ intersect() [1/2]

void G2lib::Dubins3p::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::Dubins3p::intersect	(	Dubins3p 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::Dubins3p::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::Dubins3p::intersect_ISO	(	real_type	offs,
		Dubins3p 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::Dubins3p::kappa_begin ( ) const

inlineoverridevirtual

Initial curvature.

Reimplemented from G2lib::BaseCurve.

◆ kappa_end()

real_type G2lib::Dubins3p::kappa_end ( ) const

inlineoverridevirtual

Final curvature.

Reimplemented from G2lib::BaseCurve.

◆ length()

real_type G2lib::Dubins3p::length ( ) const

overridevirtual

The length of the curve

Implements G2lib::BaseCurve.

◆ length_ISO()

real_type G2lib::Dubins3p::length_ISO ( real_type offs ) const

overridevirtual

The length of the curve with offset (ISO)

Implements G2lib::BaseCurve.

◆ nx_begin_ISO()

real_type G2lib::Dubins3p::nx_begin_ISO ( ) const

inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ nx_end_ISO()

real_type G2lib::Dubins3p::nx_end_ISO ( ) const

inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ny_begin_ISO()

real_type G2lib::Dubins3p::ny_begin_ISO ( ) const

inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ny_end_ISO()

real_type G2lib::Dubins3p::ny_end_ISO ( ) const

inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ reverse()

void G2lib::Dubins3p::reverse ( )

overridevirtual

Reverse curve parameterization.

Implements G2lib::BaseCurve.

◆ rotate()

void G2lib::Dubins3p::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::Dubins3p::scale ( real_type sc )

overridevirtual

Scale curve by factor sc.

Implements G2lib::BaseCurve.

◆ setup()

void G2lib::Dubins3p::setup ( GenericContainer const & gc )

overridevirtual

Implements G2lib::BaseCurve.

◆ theta()

real_type G2lib::Dubins3p::theta ( real_type s ) const

overridevirtual

Angle at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

◆ theta_begin()

real_type G2lib::Dubins3p::theta_begin ( ) const

inlineoverridevirtual

Initial angle of the curve.

Reimplemented from G2lib::BaseCurve.

◆ theta_D()

real_type G2lib::Dubins3p::theta_D ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ theta_DD()

real_type G2lib::Dubins3p::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::Dubins3p::theta_DDD ( real_type s ) const

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ theta_end()

real_type G2lib::Dubins3p::theta_end ( ) const

inlineoverridevirtual

Final angle of the curve.

Reimplemented from G2lib::BaseCurve.

◆ translate()

void G2lib::Dubins3p::translate	(	real_type	tx,
		real_type	ty )

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ trim()

void G2lib::Dubins3p::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::Dubins3p::tx_begin ( ) const

inlineoverridevirtual

Initial tangent \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ tx_end()

real_type G2lib::Dubins3p::tx_end ( ) const

inlineoverridevirtual

Final tangent \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ ty_begin()

real_type G2lib::Dubins3p::ty_begin ( ) const

inlineoverridevirtual

Initial tangent \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ ty_end()

real_type G2lib::Dubins3p::ty_end ( ) const

inlineoverridevirtual

Final tangent \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ type()

CurveType G2lib::Dubins3p::type ( ) const

inlineoverridevirtual

The name of the curve type

Implements G2lib::BaseCurve.

◆ X()

real_type G2lib::Dubins3p::X ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ x_begin()

real_type G2lib::Dubins3p::x_begin ( ) const

inlineoverridevirtual

Initial \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ X_D()

real_type G2lib::Dubins3p::X_D ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ X_DD()

real_type G2lib::Dubins3p::X_DD ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ X_DDD()

real_type G2lib::Dubins3p::X_DDD ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ x_end()

real_type G2lib::Dubins3p::x_end ( ) const

inlineoverridevirtual

Final \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ Y()

real_type G2lib::Dubins3p::Y ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ y_begin()

real_type G2lib::Dubins3p::y_begin ( ) const

inlineoverridevirtual

Initial \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ Y_D()

real_type G2lib::Dubins3p::Y_D ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ Y_DD()

real_type G2lib::Dubins3p::Y_DD ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ Y_DDD()

real_type G2lib::Dubins3p::Y_DDD ( real_type s ) const

overridevirtual

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

Implements G2lib::BaseCurve.

◆ y_end()

real_type G2lib::Dubins3p::y_end ( ) const

inlineoverridevirtual

Final \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

Friends And Related Symbol Documentation

◆ operator<<

ostream_type & operator<<	(	ostream_type &	stream,
		Dubins3p const &	bi )

friend

Print on strem the Dubins3p object

Parameters

stream	the output stream
bi	an instance of `Dubins3p` 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/Dubins3p.hxx
/Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/Dubins3p.cc
/Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/Dubins3p_ellipse.cc
/Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/Dubins3p_pattern.cc

Dubins3p Class Reference

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Dubins3p() [1/3]

◆ Dubins3p() [2/3]

◆ Dubins3p() [3/3]

Member Function Documentation

◆ bb_triangles()

◆ bb_triangles_ISO()

◆ bb_triangles_SAE()

◆ bbox()

◆ bbox_ISO()

◆ build()

◆ change_origin()

◆ closest_point_ISO() [1/2]

◆ closest_point_ISO() [2/2]

◆ collision() [1/2]

◆ collision() [2/2]

◆ collision_ISO() [1/2]

◆ collision_ISO() [2/2]

◆ copy()

◆ eval()

◆ eval_D()

◆ eval_DD()

◆ eval_DDD()

◆ eval_ISO()

◆ eval_ISO_D()

◆ eval_ISO_DD()

◆ eval_ISO_DDD()

◆ get_range_angles()

◆ get_sample_angles()

◆ info()

◆ intersect() [1/2]

◆ intersect() [2/2]

◆ intersect_ISO() [1/2]

◆ intersect_ISO() [2/2]

◆ kappa_begin()

◆ kappa_end()

◆ length()

◆ length_ISO()

◆ nx_begin_ISO()

◆ nx_end_ISO()

◆ ny_begin_ISO()

◆ ny_end_ISO()

◆ reverse()

◆ rotate()

◆ scale()

◆ setup()

◆ theta()

◆ theta_begin()

◆ theta_D()

◆ theta_DD()

◆ theta_DDD()

◆ theta_end()

◆ translate()

◆ trim()

◆ tx_begin()

◆ tx_end()

◆ ty_begin()

◆ ty_end()

◆ type()

◆ X()

◆ x_begin()

◆ X_D()

◆ X_DD()

◆ X_DDD()

◆ x_end()

◆ Y()

◆ y_begin()

◆ Y_D()

◆ Y_DD()

◆ Y_DDD()

◆ y_end()

Friends And Related Symbol Documentation

◆ operator<<