G2lib::G2solveCLC Class Reference

#include <ClothoidList.hxx>

Public Member Functions
	G2solveCLC ()=default
int	build (real_type x0, real_type y0, real_type theta0, real_type kappa0, real_type x1, real_type y1, real_type theta1, real_type kappa1)
void	set_tolerance (real_type tol)
void	set_max_iter (integer miter)
int	solve ()
ClothoidCurve const &	S0 () const
ClothoidCurve const &	SM () const
ClothoidCurve const &	S1 () const
void	save (ostream_type &stream) const

Detailed Description

Construct a piecewise clothoids \( G(s) \) composed by 2 clothoid and one line segment that solve the \( G^2 \) problem

\[ \begin{array}{ll} \textrm{endpoints:}\quad & \left\{ \begin{array}{r@{~}c@{~}l} G(0) &=& \mathbf{p}_0 \\[0.5em] G(L) &=& \mathbf{p}_1 \end{array} \right. \\[1em] \textrm{angles:}\quad & \left\{ \begin{array}{r@{~}c@{~}l} \theta(0) &=& \theta_0 \\[0.5em] \theta(L) &=& \theta_1 \end{array} \right. \\[1em] \textrm{curvature:}\quad & \left\{ \begin{array}{r@{~}c@{~}l} \kappa(0) &=& \kappa_0 \\[0.5em] \kappa(L) &=& \kappa_1 \end{array} \right. \end{array} \]

note

The solution do not exist for all the combination of points/angle/curvature

Constructor & Destructor Documentation

G2solveCLC()

G2lib::G2solveCLC::G2solveCLC ( )

default

Build an empty clothoid list

Member Function Documentation

build()

int G2lib::G2solveCLC::build	(	real_type	x0,
		real_type	y0,
		real_type	theta0,
		real_type	kappa0,
		real_type	x1,
		real_type	y1,
		real_type	theta1,
		real_type	kappa1 )

Construct a piecewise clothoids \( G(s) \) composed by two clothoids and one line segment that solve the \( G^2 \) problem, with data

\[ \mathbf{p}_0 = (x_0,y_0)^T, \qquad \mathbf{p}_1 = (x_1,y_1)^T \]

\[ \theta_0, \qquad \theta_1, \qquad \kappa_0, \qquad \kappa_1 \]

Parameters

[in]	x0	\( x_0 \)
[in]	y0	\( y_0 \)
[in]	theta0	\( \theta_0 \)
[in]	kappa0	\( \kappa_0 \)
[in]	x1	\( x_1 \)
[in]	y1	\( y_1 \)
[in]	theta1	\( \theta_1 \)
[in]	kappa1	\( \kappa_1 \)

Returns

number of iterations of -1 if failed

S0()

ClothoidCurve const & G2lib::G2solveCLC::S0 ( ) const

inline

Return the first clothoid of the \( G^2 \) clothoid list

S1()

ClothoidCurve const & G2lib::G2solveCLC::S1 ( ) const

inline

Return the third clothoid of the \( G^2 \) clothoid list

set_max_iter()

void G2lib::G2solveCLC::set_max_iter

(

integer

miter

)

Fix maximum number of iteration for the \( G^2 \) problem

set_tolerance()

void G2lib::G2solveCLC::set_tolerance

(

real_type

tol

)

Fix tolerance for the \( G^2 \) problem

SM()

ClothoidCurve const & G2lib::G2solveCLC::SM ( ) const

inline

Return the second segment (the line) as a clothoid

solve()

int G2lib::G2solveCLC::solve

(

)

Solve the \( G^2 \) problem

Returns

number of iterations of -1 if failed

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

• /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/Clothoids/ClothoidList.hxx
• /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/ClothoidG2.cc
• /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/ClothoidList.cc