LineSegment Class Reference

Clothoids: G2lib::LineSegment Class Reference
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G2lib::LineSegment Class Reference

#include <Line.hxx>

Inheritance diagram for G2lib::LineSegment:
G2lib::BaseCurve

Public Member Functions

 LineSegment ()=delete
 
 LineSegment (string const &name)
 
void setup (GenericContainer const &gc) override
 
 LineSegment (LineSegment const &s)
 
 LineSegment (BaseCurve const *pC)
 
 LineSegment (real_type x0, real_type y0, real_type theta0, real_type L, string const &name)
 
void copy (LineSegment const &c)
 
LineSegment const & operator= (LineSegment const &s)
 
CurveType type () const override
 
real_type length () const override
 
real_type length_ISO (real_type) const override
 
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
 
void bb_triangles (vector< Triangle2D > &tvec, real_type max_angle=Utils::m_pi/6, 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/6, 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/6, real_type max_size=1e100, integer icurve=0) const override
 
real_type tx_begin () const override
 
real_type ty_begin () const override
 
real_type tx_end () const override
 
real_type ty_end () const override
 
real_type nx_begin_ISO () const override
 
real_type ny_begin_ISO () const override
 
real_type nx_end_ISO () const override
 
real_type ny_end_ISO () const override
 
real_type x_begin () const override
 
real_type y_begin () const override
 
real_type x_end () const override
 
real_type y_end () const override
 
real_type x_begin_ISO (real_type offs) const override
 
real_type y_begin_ISO (real_type offs) const override
 
real_type x_end_ISO (real_type offs) const override
 
real_type y_end_ISO (real_type offs) const override
 
real_type theta (real_type) 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 tx (real_type) const override
 
real_type ty (real_type) const override
 
real_type tx_D (real_type) const override
 
real_type ty_D (real_type) const override
 
real_type tx_DD (real_type) const override
 
real_type ty_DD (real_type) const override
 
real_type tx_DDD (real_type) const override
 
real_type ty_DDD (real_type) const override
 
void tg (real_type, real_type &tx, real_type &ty) const override
 
void tg_D (real_type, real_type &tx_D, real_type &ty_D) const override
 
void tg_DD (real_type, real_type &tx_DD, real_type &ty_DD) const override
 
void tg_DDD (real_type, real_type &tx_DDD, real_type &ty_DDD) const override
 
real_type X (real_type s) const override
 
real_type Y (real_type s) const override
 
real_type X_D (real_type) const override
 
real_type Y_D (real_type) const override
 
real_type X_DD (real_type) const override
 
real_type Y_DD (real_type) const override
 
real_type X_DDD (real_type) const override
 
real_type Y_DDD (real_type) const override
 
void eval (real_type s, real_type &x, real_type &y) const override
 
void eval_D (real_type, real_type &x_D, real_type &y_D) const override
 
void eval_DD (real_type, real_type &x_DD, real_type &y_DD) const override
 
void eval_DDD (real_type, real_type &x_DDD, real_type &y_DDD) const override
 
real_type X_ISO (real_type s, real_type offs) const override
 
real_type Y_ISO (real_type s, real_type offs) const override
 
real_type X_ISO_D (real_type, real_type) const override
 
real_type Y_ISO_D (real_type, real_type) const override
 
real_type X_ISO_DD (real_type, real_type) const override
 
real_type Y_ISO_DD (real_type, real_type) const override
 
real_type X_ISO_DDD (real_type, real_type) const override
 
real_type Y_ISO_DDD (real_type, real_type) 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, real_type, real_type &x_D, real_type &y_D) const override
 
void eval_ISO_DD (real_type, real_type, real_type &x_DD, real_type &y_DD) const override
 
void eval_ISO_DDD (real_type, real_type, real_type &x_DDD, real_type &y_DDD) 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 scale (real_type sc) override
 
void trim (real_type s_begin, real_type s_end) 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
 
string info () const
 
void info (ostream_type &stream) const override
 
void build (real_type x0, real_type y0, real_type theta0, real_type L)
 
void build_2P (real_type _x0, real_type _y0, real_type _x1, real_type _y1)
 
void build_2P (real_type const p0[2], real_type const p1[2])
 
void p1p2 (real_type p1[2], real_type p2[2]) const
 
void build (LineSegment const &LS)
 
void build (CircleArc const &)
 
void build (Biarc const &)
 
void build (ClothoidCurve const &)
 
void build (PolyLine const &)
 
void build (BiarcList const &)
 
void build (ClothoidList const &)
 
void build (Dubins const &)
 
void build (Dubins3p const &)
 
bool collision (LineSegment const &S) const
 
bool collision_ISO (real_type offs, LineSegment const &S, real_type S_offs) const
 
bool collision (BaseCurve const *pC) const override
 
bool collision_ISO (real_type offs, BaseCurve const *pC, real_type offs_C) const override
 
bool intersect (LineSegment const &S, real_type &s1, real_type &s2) const
 
bool intersect_ISO (real_type offs, LineSegment const &S, real_type S_offs, real_type &s1, real_type &s2) const
 
void intersect (LineSegment const &LS, IntersectList &ilist) const
 
void intersect_ISO (real_type offs, LineSegment const &LS, real_type offs_LS, 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
 
void paramNURBS (integer &n_knots, integer &n_pnts) const
 
void toNURBS (real_type knots[], real_type Poly[][3]) const
 
virtual void toBS (real_type knots[], real_type Poly[][2]) const
 
virtual real_type theta_begin () const
 
virtual real_type theta_end () 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 X_SAE (real_type s, real_type offs) const
 
real_type X_SAE_D (real_type s, real_type offs) const
 
real_type X_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 (real_type s, real_type offs) const
 
real_type Y_SAE_D (real_type s, real_type offs) const
 
real_type Y_SAE_DD (real_type s, real_type offs) const
 
real_type Y_SAE_DDD (real_type s, real_type offs) 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
 
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
 
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
 
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
 
- 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 kappa_begin () const
 
virtual real_type kappa_end () 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
 
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
 
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
 
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 CircleArc
 
class PolyLine
 
class ClothoidCurve
 
ostream_type & operator<< (ostream_type &stream, LineSegment const &c)
 

Detailed Description

Class to manage a straight segment

Constructor & Destructor Documentation

◆ LineSegment() [1/2]

G2lib::LineSegment::LineSegment ( )
delete

eof: BaseCurve_using.hxx

◆ LineSegment() [2/2]

G2lib::LineSegment::LineSegment ( real_type x0,
real_type y0,
real_type theta0,
real_type L,
string const & name )
inlineexplicit

Construct a circle curve with the standard parameters

Member Function Documentation

◆ bb_triangles()

void G2lib::LineSegment::bb_triangles ( vector< Triangle2D > & tvec,
real_type max_angle = Utils::m_pi/6,
real_type max_size = 1e100,
integer icurve = 0 ) const
overridevirtual

Build a cover with triangles of the curve.

Parameters
[out]tveclist of covering triangles
[out]max_anglemaximum angle variation of the curve covered by a triangle
[out]max_sizemaximum admissible size of the covering tirnagles
[out]icurveindex of the covering triangles
'

Implements G2lib::BaseCurve.

◆ bb_triangles_ISO()

void G2lib::LineSegment::bb_triangles_ISO ( real_type offs,
vector< Triangle2D > & tvec,
real_type max_angle = Utils::m_pi/6,
real_type max_size = 1e100,
integer icurve = 0 ) const
overridevirtual

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

Parameters
[out]offscurve offset
[out]tveclist of covering triangles
[out]max_anglemaximum angle variation of the curve covered by a triangle
[out]max_sizemaximum admissible size of the covering tirnagles
[out]icurveindex of the covering triangles

Implements G2lib::BaseCurve.

◆ bb_triangles_SAE()

void G2lib::LineSegment::bb_triangles_SAE ( real_type offs,
vector< Triangle2D > & tvec,
real_type max_angle = Utils::m_pi/6,
real_type max_size = 1e100,
integer icurve = 0 ) const
inlineoverridevirtual

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

Parameters
[out]offscurve offset
[out]tveclist of covering triangles
[out]max_anglemaximum angle variation of the arc covered by a triangle
[out]max_sizemaximum admissible size of the covering tirnagles
[out]icurveindex of the covering triangles

Implements G2lib::BaseCurve.

◆ bbox()

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

Compute the bounding box of the curve.

Parameters
[out]xminleft bottom
[out]yminleft bottom
[out]xmaxright top
[out]ymaxright top

Implements G2lib::BaseCurve.

◆ bbox_ISO()

void G2lib::LineSegment::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]offscurve offset
[out]xminleft bottom
[out]yminleft bottom
[out]xmaxright top
[out]ymaxright top

Implements G2lib::BaseCurve.

◆ build_2P() [1/2]

void G2lib::LineSegment::build_2P ( real_type _x0,
real_type _y0,
real_type _x1,
real_type _y1 )

Construct a clothoid with the standard parameters

◆ build_2P() [2/2]

void G2lib::LineSegment::build_2P ( real_type const p0[2],
real_type const p1[2] )
inline

Construct a clothoid with the standard parameters

◆ change_origin()

void G2lib::LineSegment::change_origin ( real_type newx0,
real_type newy0 )
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ closest_point_ISO() [1/2]

integer G2lib::LineSegment::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

Compute the point at minimum distance from a point [x,y] and the line segment

Parameters
[in]qx\(x\)-coordinate
[in]qy\(y\)-coordinate
[out]x\(x\)-coordinate of the closest point
[out]y\(y\)-coordinate of the closest point
[out]sparam of the closest point
[out]tsigned distance if projection is orthogonal to segment
[out]dstsigned distance from the segment
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::LineSegment::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
offsoffset of the curve
x\(x\)-coordinate of the projected point on the curve
y\(y\)-coordinate of the projected point on the curve
sparameter on the curve of the projection
tcurvilinear coordinate of the point x,y (if orthogonal projection)
dstdistance 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_SAE() [1/2]

integer G2lib::BaseCurve::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
inline

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
sparameter on the curve of the projection
tcurvilinear coordinate of the point x,y (if orthogonal projection)
dstdistance 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

◆ closest_point_SAE() [2/2]

integer G2lib::BaseCurve::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
inline

Given a point find closest point on the curve.

Parameters
qx\(x\)-coordinate of the point
qy\(y\)-coordinate of the point
offsoffset of the curve
x\(x\)-coordinate of the projected point on the curve
y\(y\)-coordinate of the projected point on the curve
sparameter on the curve of the projection
tcurvilinear coordinate of the point x,y (if orthogonal projection)
dstdistance 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

◆ collision()

bool G2lib::LineSegment::collision ( BaseCurve const * pC) const
overridevirtual

Check collision with another curve.

Implements G2lib::BaseCurve.

◆ collision_ISO()

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

Check collision with another curve with offset (ISO).

Parameters
[in]offscurve offset
[in]pCsecond curve to check collision
[in]offs_Ccurve offset of the second curve
Returns
true if collision is detected

Implements G2lib::BaseCurve.

◆ distance_ISO()

real_type G2lib::BaseCurve::distance_ISO ( real_type qx,
real_type qy,
real_type offs ) const
inline

Compute the distance between a point \(q=(q_x,q_y)\) and the curve with offset (ISO).

Parameters
[in]qxcomponent \(q_x\)
[in]qycomponent \(q_y\)
[in]offsoffset of the curve
Returns
the computed distance

◆ distance_SAE()

real_type G2lib::BaseCurve::distance_SAE ( real_type qx,
real_type qy,
real_type offs ) const
inline

Compute the distance between a point \(q=(q_x,q_y)\) and the curve with offset (SAE).

Parameters
[in]qxcomponent \(q_x\)
[in]qycomponent \(q_y\)
[in]offsoffset of the curve
Returns
the computed distance

◆ eval()

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

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

Implements G2lib::BaseCurve.

◆ eval_D()

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

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

Implements G2lib::BaseCurve.

◆ eval_DD()

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

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

Implements G2lib::BaseCurve.

◆ eval_DDD()

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

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

Implements G2lib::BaseCurve.

◆ eval_ISO()

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

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

Parameters
[in]sparameter on the curve
[in]offsoffset of the curve
[out]xcoordinate
[out]ycoordinate

Reimplemented from G2lib::BaseCurve.

◆ eval_ISO_D()

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

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

Parameters
[in]sparameter on the curve
[in]offsoffset of the curve
[out]x_D\(x\)-coordinate
[out]y_D\(y\)-coordinate

Reimplemented from G2lib::BaseCurve.

◆ eval_ISO_DD()

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

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

Parameters
[in]sparameter on the curve
[in]offsoffset 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::LineSegment::eval_ISO_DDD ( real_type s,
real_type offs,
real_type & x_DDD,
real_type & y_DDD ) const
inlineoverridevirtual

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

Parameters
[in]sparameter on the curve
[in]offsoffset of the curve
[out]x_DDD\(x\)-coordinate third derivative
[out]y_DDD\(y\)-coordinate third derivative

Reimplemented from G2lib::BaseCurve.

◆ eval_SAE()

void G2lib::BaseCurve::eval_SAE ( real_type s,
real_type offs,
real_type & x,
real_type & y ) const
inline

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

Parameters
[in]sparameter on the curve
[in]offsoffset of the curve
[out]xcoordinate
[out]ycoordinate

◆ eval_SAE_D()

void G2lib::BaseCurve::eval_SAE_D ( real_type s,
real_type offs,
real_type & x_D,
real_type & y_D ) const
inline

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

Parameters
[in]sparameter on the curve
[in]offsoffset of the curve
[out]x_D\(x\)-coordinate first derivative
[out]y_D\(y\)-coordinate first derivative

◆ eval_SAE_DD()

void G2lib::BaseCurve::eval_SAE_DD ( real_type s,
real_type offs,
real_type & x_DD,
real_type & y_DD ) const
inline

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

Parameters
[in]sparameter on the curve
[in]offsoffset of the curve
[out]x_DD\(x\)-coordinate second derivative
[out]y_DD\(y\)-coordinate second derivative

◆ eval_SAE_DDD()

void G2lib::BaseCurve::eval_SAE_DDD ( real_type s,
real_type offs,
real_type & x_DDD,
real_type & y_DDD ) const
inline

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

Parameters
[in]sparameter on the curve
[in]offsoffset of the curve
[out]x_DDD\(x\)-coordinate third derivative
[out]y_DDD\(y\)-coordinate third derivative

◆ evaluate_ISO()

virtual void G2lib::BaseCurve::evaluate_ISO ( real_type s,
real_type offs,
real_type & th,
real_type & k,
real_type & x,
real_type & y ) const
inlinevirtual

Evaluate curve with offset at curvilinear coordinate \(s\) (ISO).

Parameters
[in]scurvilinear coordinate
[in]offsoffset
[out]thangle
[out]kcurvature
[out]x\(x\)-coordinate
[out]y\(y\)-coordinate

Reimplemented from G2lib::BaseCurve.

◆ evaluate_SAE()

virtual void G2lib::BaseCurve::evaluate_SAE ( real_type s,
real_type offs,
real_type & th,
real_type & k,
real_type & x,
real_type & y ) const
inlinevirtual

Evaluate curve with offset at curvilinear coordinate \(s\) (SAE).

Parameters
[in]scurvilinear coordinate
[in]offsoffset
[out]thangle
[out]kcurvature
[out]x\(x\)-coordinate
[out]y\(y\)-coordinate

Reimplemented from G2lib::BaseCurve.

◆ info()

void G2lib::LineSegment::info ( ostream_type & stream) const
inlineoverridevirtual

Pretty print of the curve data.

Implements G2lib::BaseCurve.

◆ intersect()

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

Intersect the curve with another curve.

Parameters
[in]pCsecond curve intersect
[out]ilistlist of the intersection (as parameter on the curves)

Implements G2lib::BaseCurve.

◆ intersect_ISO()

void G2lib::LineSegment::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]offsoffset first curve
[in]pCsecond curve intersect
[in]offs_Coffset second curve
[out]ilistlist of the intersection (as parameter on the curves)

Implements G2lib::BaseCurve.

◆ length()

real_type G2lib::LineSegment::length ( ) const
inlineoverridevirtual

The length of the curve

Implements G2lib::BaseCurve.

◆ length_ISO()

real_type G2lib::LineSegment::length_ISO ( real_type offs) const
inlineoverridevirtual

The length of the curve with offset (ISO)

Implements G2lib::BaseCurve.

◆ nx_begin_ISO()

real_type G2lib::LineSegment::nx_begin_ISO ( ) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ nx_begin_SAE()

real_type G2lib::BaseCurve::nx_begin_SAE ( ) const
inline

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

◆ nx_end_ISO()

real_type G2lib::LineSegment::nx_end_ISO ( ) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ nx_end_SAE()

real_type G2lib::BaseCurve::nx_end_SAE ( ) const
inline

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

◆ ny_begin_ISO()

real_type G2lib::LineSegment::ny_begin_ISO ( ) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ny_begin_SAE()

real_type G2lib::BaseCurve::ny_begin_SAE ( ) const
inline

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

◆ ny_end_ISO()

real_type G2lib::LineSegment::ny_end_ISO ( ) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ny_end_SAE()

real_type G2lib::BaseCurve::ny_end_SAE ( ) const
inline

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

◆ reverse()

void G2lib::LineSegment::reverse ( )
overridevirtual

Reverse curve parameterization.

Implements G2lib::BaseCurve.

◆ rotate()

void G2lib::LineSegment::rotate ( real_type angle,
real_type cx,
real_type cy )
overridevirtual

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

Parameters
[in]angleangle \(\theta\)
[in]cx\(c_x\)
[in]cy\(c_y\)

Implements G2lib::BaseCurve.

◆ scale()

void G2lib::LineSegment::scale ( real_type sc)
inlineoverridevirtual

Scale curve by factor sc.

Implements G2lib::BaseCurve.

◆ setup()

void G2lib::LineSegment::setup ( GenericContainer const & gc)
overridevirtual

Implements G2lib::BaseCurve.

◆ tg()

void G2lib::LineSegment::tg ( real_type s,
real_type & tg_x,
real_type & tg_y ) const
inlineoverridevirtual

Tangent at curvilinear coordinate \(s\).

Reimplemented from G2lib::BaseCurve.

◆ tg_D()

void G2lib::LineSegment::tg_D ( real_type s,
real_type & tg_x_D,
real_type & tg_y_D ) const
inlineoverridevirtual

Tangent derivative at curvilinear coordinate \(s\).

Reimplemented from G2lib::BaseCurve.

◆ tg_DD()

void G2lib::LineSegment::tg_DD ( real_type s,
real_type & tg_x_DD,
real_type & tg_y_DD ) const
inlineoverridevirtual

Tangent second derivative at curvilinear coordinate \(s\).

Reimplemented from G2lib::BaseCurve.

◆ tg_DDD()

void G2lib::LineSegment::tg_DDD ( real_type s,
real_type & tg_x_DDD,
real_type & tg_y_DDD ) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ theta()

real_type G2lib::LineSegment::theta ( real_type s) const
inlineoverridevirtual

Angle at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

◆ theta_begin()

virtual real_type G2lib::BaseCurve::theta_begin ( ) const
inlinevirtual

file: BaseCurve_using.hxx

Reimplemented from G2lib::BaseCurve.

◆ theta_D()

real_type G2lib::LineSegment::theta_D ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ theta_DD()

real_type G2lib::LineSegment::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::LineSegment::theta_DDD ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ theta_end()

virtual real_type G2lib::BaseCurve::theta_end ( ) const
inlinevirtual

Final angle of the curve.

Reimplemented from G2lib::BaseCurve.

◆ translate()

void G2lib::LineSegment::translate ( real_type tx,
real_type ty )
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ trim()

void G2lib::LineSegment::trim ( real_type s_begin,
real_type s_end )
inlineoverridevirtual

Cut curve at parametric coordinate s_begin and s_end.

Implements G2lib::BaseCurve.

◆ tx()

real_type G2lib::LineSegment::tx ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ tx_begin()

real_type G2lib::LineSegment::tx_begin ( ) const
inlineoverridevirtual

Initial tangent \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ tx_D()

real_type G2lib::LineSegment::tx_D ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ tx_DD()

real_type G2lib::LineSegment::tx_DD ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ tx_DDD()

real_type G2lib::LineSegment::tx_DDD ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ tx_end()

real_type G2lib::LineSegment::tx_end ( ) const
inlineoverridevirtual

Final tangent \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ ty()

real_type G2lib::LineSegment::ty ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ty_begin()

real_type G2lib::LineSegment::ty_begin ( ) const
inlineoverridevirtual

Initial tangent \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ ty_D()

real_type G2lib::LineSegment::ty_D ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ty_DD()

real_type G2lib::LineSegment::ty_DD ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ty_DDD()

real_type G2lib::LineSegment::ty_DDD ( real_type s) const
inlineoverridevirtual

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

Reimplemented from G2lib::BaseCurve.

◆ ty_end()

real_type G2lib::LineSegment::ty_end ( ) const
inlineoverridevirtual

Final tangent \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ type()

CurveType G2lib::LineSegment::type ( ) const
inlineoverridevirtual

The name of the curve type

Implements G2lib::BaseCurve.

◆ X()

real_type G2lib::LineSegment::X ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ x_begin()

real_type G2lib::LineSegment::x_begin ( ) const
inlineoverridevirtual

Initial \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ x_begin_ISO()

real_type G2lib::LineSegment::x_begin_ISO ( real_type offs) const
inlineoverridevirtual

Initial \(x\)-coordinate with offset (ISO standard).

Reimplemented from G2lib::BaseCurve.

◆ x_begin_SAE()

real_type G2lib::BaseCurve::x_begin_SAE ( real_type offs) const
inline

Initial \(x\)-coordinate with offset (SAE standard).

◆ X_D()

real_type G2lib::LineSegment::X_D ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ X_DD()

real_type G2lib::LineSegment::X_DD ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ X_DDD()

real_type G2lib::LineSegment::X_DDD ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ x_end()

real_type G2lib::LineSegment::x_end ( ) const
inlineoverridevirtual

Final \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ x_end_ISO()

real_type G2lib::LineSegment::x_end_ISO ( real_type offs) const
inlineoverridevirtual

Final \(x\)-coordinate with offset (ISO standard).

Reimplemented from G2lib::BaseCurve.

◆ x_end_SAE()

real_type G2lib::BaseCurve::x_end_SAE ( real_type offs) const
inline

Final \(y\)-coordinate with offset (SAE standard).

◆ X_ISO()

real_type G2lib::LineSegment::X_ISO ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(x\)-coordinate at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ X_ISO_D()

real_type G2lib::LineSegment::X_ISO_D ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(x\)-coordinate derivative at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ X_ISO_DD()

real_type G2lib::LineSegment::X_ISO_DD ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(x\)-coordinate second derivative at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ X_ISO_DDD()

real_type G2lib::LineSegment::X_ISO_DDD ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(x\)-coordinate third derivative at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ X_SAE()

real_type G2lib::BaseCurve::X_SAE ( real_type s,
real_type offs ) const
inline

\(x\)-coordinate at curvilinear coordinate \(s\) with offset offs (SAE).

◆ X_SAE_D()

real_type G2lib::BaseCurve::X_SAE_D ( real_type s,
real_type offs ) const
inline

\(x\)-coordinate derivative at curvilinear coordinate \(s\) with offset offs (SAE).

◆ X_SAE_DD()

real_type G2lib::BaseCurve::X_SAE_DD ( real_type s,
real_type offs ) const
inline

\(x\)-coordinate second derivative at curvilinear coordinate \(s\) with offset offs (SAE).

◆ X_SAE_DDD()

real_type G2lib::BaseCurve::X_SAE_DDD ( real_type s,
real_type offs ) const
inline

\(x\)-coordinate third derivative at curvilinear coordinate \(s\) with offset offs (SAE).

◆ Y()

real_type G2lib::LineSegment::Y ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ y_begin()

real_type G2lib::LineSegment::y_begin ( ) const
inlineoverridevirtual

Initial \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ y_begin_ISO()

real_type G2lib::LineSegment::y_begin_ISO ( real_type offs) const
inlineoverridevirtual

Initial \(y\)-coordinate with offset (ISO standard).

Reimplemented from G2lib::BaseCurve.

◆ y_begin_SAE()

real_type G2lib::BaseCurve::y_begin_SAE ( real_type offs) const
inline

Initial \(y\)-coordinate with offset (SAE standard).

◆ Y_D()

real_type G2lib::LineSegment::Y_D ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ Y_DD()

real_type G2lib::LineSegment::Y_DD ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ Y_DDD()

real_type G2lib::LineSegment::Y_DDD ( real_type s) const
inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ y_end()

real_type G2lib::LineSegment::y_end ( ) const
inlineoverridevirtual

Final \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ y_end_ISO()

real_type G2lib::LineSegment::y_end_ISO ( real_type offs) const
inlineoverridevirtual

Final \(y\)-coordinate with offset (ISO standard).

Reimplemented from G2lib::BaseCurve.

◆ y_end_SAE()

real_type G2lib::BaseCurve::y_end_SAE ( real_type offs) const
inline

Final \(y\)-coordinate with offset (ISO standard).

◆ Y_ISO()

real_type G2lib::LineSegment::Y_ISO ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(y\)-coordinate at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ Y_ISO_D()

real_type G2lib::LineSegment::Y_ISO_D ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(y\)-coordinate derivative at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ Y_ISO_DD()

real_type G2lib::LineSegment::Y_ISO_DD ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(y\)-coordinate second derivative at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ Y_ISO_DDD()

real_type G2lib::LineSegment::Y_ISO_DDD ( real_type s,
real_type offs ) const
inlineoverridevirtual

\(y\)-coordinate third derivative at curvilinear coordinate \(s\) with offset offs (ISO).

Reimplemented from G2lib::BaseCurve.

◆ Y_SAE()

real_type G2lib::BaseCurve::Y_SAE ( real_type s,
real_type offs ) const
inline

\(y\)-coordinate at curvilinear coordinate \(s\) with offset offs (SAE).

◆ Y_SAE_D()

real_type G2lib::BaseCurve::Y_SAE_D ( real_type s,
real_type offs ) const
inline

\(y\)-coordinate derivative at curvilinear coordinate \(s\) with offset offs (SAE).

◆ Y_SAE_DD()

real_type G2lib::BaseCurve::Y_SAE_DD ( real_type s,
real_type offs ) const
inline

\(y\)-coordinate second derivative at curvilinear coordinate \(s\) with offset offs (SAE).

◆ Y_SAE_DDD()

real_type G2lib::BaseCurve::Y_SAE_DDD ( real_type s,
real_type offs ) const
inline

\(y\)-coordinate third derivative at curvilinear coordinate \(s\) with offset offs (SAE).

Friends And Related Symbol Documentation

◆ operator<<

ostream_type & operator<< ( ostream_type & stream,
LineSegment const & c )
friend

Print on strem the LineSegment object

Parameters
streamthe output stream
can instance of LineSegment 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/Line.hxx
  • /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/Line.cc
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