PolyLine Class Reference

Clothoids: G2lib::PolyLine Class Reference

Clothoids

Class to manage a collection of straight segment. More...

#include <PolyLine.hxx>

Inheritance diagram for G2lib::PolyLine:

Public Member Functions
	PolyLine (string const &name)

void	setup (GenericContainer const &gc) override

void	init ()

void	copy (PolyLine const &l)

	PolyLine (PolyLine const &PL)

integer	find_at_s (real_type &s) const

	PolyLine (LineSegment const &LS)

	PolyLine (CircleArc const &C, real_type tol)

	PolyLine (Biarc const &B, real_type tol)

	PolyLine (ClothoidCurve const &B, real_type tol)

	PolyLine (ClothoidList const &B, real_type tol)

	PolyLine (BaseCurve const *pC)

CurveType	type () const override

PolyLine const &	operator= (PolyLine const &s)

LineSegment const &	getSegment (integer n) const

integer	num_segments () const

integer	numPoints () const

void	polygon (real_type x[], real_type y[]) const

void	init (real_type x0, real_type y0)

void	push_back (real_type x, real_type y)

void	push_back (LineSegment const &C)

void	push_back (CircleArc const &C, real_type tol)

void	push_back (Biarc const &C, real_type tol)

void	push_back (ClothoidCurve const &C, real_type tol)

void	push_back (ClothoidList const &L, real_type tol)

void	build (integer npts, real_type const x[], real_type const y[])

void	build (LineSegment const &L)

void	build (CircleArc const &C, real_type tol)

void	build (Biarc const &B, real_type tol)

void	build (ClothoidCurve const &C, real_type tol)

void	build (ClothoidList const &CL, real_type tol)

void	build (CircleArc const &C)

void	build (ClothoidCurve const &)

void	build (Biarc const &)

void	build (BiarcList const &)

void	build (PolyLine const &)

void	build (ClothoidList const &)

void	build (Dubins const &)

void	build (Dubins3p const &)

void	bbox (real_type &xmin, real_type &ymin, real_type &xmax, real_type &ymax) const override

void	bbox_ISO (real_type, real_type &, real_type &, real_type &, real_type &) 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	length () const override

real_type	length_ISO (real_type) 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 (real_type s) const override

real_type	X_D (real_type s) const override

real_type	X_DD (real_type) const override

real_type	X_DDD (real_type) const override

real_type	Y (real_type s) const override

real_type	Y_D (real_type s) const override

real_type	Y_DD (real_type) const override

real_type	Y_DDD (real_type) const override

real_type	theta (real_type s) const override

real_type	theta_D (real_type s) const override

real_type	theta_DD (real_type s) const override

real_type	theta_DDD (real_type s) const override

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, 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

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, 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	scale (real_type sc) override

void	change_origin (real_type newx0, real_type newy0) override

void	trim (real_type s_begin, real_type s_end) override

void	trim (real_type s_begin, real_type s_end, PolyLine &newPL) const

integer	closest_point_ISO (real_type x, real_type y, real_type &X, real_type &Y, real_type &S, real_type &T, real_type &DST) const override

integer	closest_point_ISO (real_type, real_type, real_type, real_type &, real_type &, real_type &, real_type &, real_type &) const override

bool	collision (PolyLine const &C) const

bool	collision_ISO (real_type offs, PolyLine const &CL, real_type offs_CL) 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 (PolyLine const &pl, vector< real_type > &ss0, vector< real_type > &ss1) const

void	intersect (PolyLine const &pl, IntersectList &ilist) const

void	intersect_ISO (real_type offs, PolyLine const &pl, real_type offs_pl, 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

void	build_AABBtree () 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	theta_begin () const

virtual real_type	theta_end () const

virtual real_type	kappa_begin () const

virtual real_type	kappa_end () 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

virtual real_type	tx_begin () const

virtual real_type	ty_begin () const

virtual real_type	tx_end () const

virtual real_type	ty_end () const

virtual real_type	nx_begin_ISO () const

virtual real_type	ny_begin_ISO () const

virtual real_type	nx_end_ISO () const

virtual real_type	ny_end_ISO () const

real_type	nx_begin_SAE () const

real_type	ny_begin_SAE () const

real_type	nx_end_SAE () const

real_type	ny_end_SAE () const

real_type	kappa (real_type s) const

real_type	kappa_D (real_type s) const

real_type	kappa_DD (real_type s) const

virtual real_type	tx (real_type s) const

virtual real_type	ty (real_type s) const

virtual real_type	tx_D (real_type s) const

virtual real_type	ty_D (real_type s) const

virtual real_type	tx_DD (real_type s) const

virtual real_type	ty_DD (real_type s) const

virtual real_type	tx_DDD (real_type s) const

virtual real_type	ty_DDD (real_type s) const

real_type	nx_ISO (real_type s) const

real_type	nx_ISO_D (real_type s) const

real_type	nx_ISO_DD (real_type s) const

real_type	nx_ISO_DDD (real_type s) const

real_type	ny_ISO (real_type s) const

real_type	ny_ISO_D (real_type s) const

real_type	ny_ISO_DD (real_type s) const

real_type	ny_ISO_DDD (real_type s) const

real_type	nx_SAE (real_type s) const

real_type	nx_SAE_D (real_type s) const

real_type	nx_SAE_DD (real_type s) const

real_type	nx_SAE_DDD (real_type s) const

real_type	ny_SAE (real_type s) const

real_type	ny_SAE_D (real_type s) const

real_type	ny_SAE_DD (real_type s) const

real_type	ny_SAE_DDD (real_type s) const

virtual void	tg (real_type s, real_type &tg_x, real_type &tg_y) const

virtual void	tg_D (real_type s, real_type &tg_x_D, real_type &tg_y_D) const

virtual void	tg_DD (real_type s, real_type &tg_x_DD, real_type &tg_y_DD) const

virtual void	tg_DDD (real_type s, real_type &tg_x_DDD, real_type &tg_y_DDD) const

void	nor_ISO (real_type s, real_type &nx, real_type &ny) const

void	nor_ISO_D (real_type s, real_type &nx_D, real_type &ny_D) const

void	nor_ISO_DD (real_type s, real_type &nx_DD, real_type &ny_DD) const

void	nor_ISO_DDD (real_type s, real_type &nx_DDD, real_type &ny_DDD) const

void	nor_SAE (real_type s, real_type &nx, real_type &ny) const

void	nor_SAE_D (real_type s, real_type &nx_D, real_type &ny_D) const

void	nor_SAE_DD (real_type s, real_type &nx_DD, real_type &ny_DD) const

void	nor_SAE_DDD (real_type s, real_type &nx_DDD, real_type &ny_DDD) const

virtual void	evaluate (real_type s, real_type &th, real_type &k, real_type &x, real_type &y) const

virtual void	evaluate_ISO (real_type s, real_type offs, real_type &th, real_type &k, real_type &x, real_type &y) const

virtual void	evaluate_SAE (real_type s, real_type offs, real_type &th, real_type &k, real_type &x, real_type &y) const

virtual real_type	X_ISO (real_type s, real_type offs) const

virtual real_type	Y_ISO (real_type s, real_type offs) const

virtual real_type	X_ISO_D (real_type s, real_type offs) const

virtual real_type	Y_ISO_D (real_type s, real_type offs) const

virtual real_type	X_ISO_DD (real_type s, real_type offs) const

virtual real_type	Y_ISO_DD (real_type s, real_type offs) const

virtual real_type	X_ISO_DDD (real_type s, real_type offs) const

virtual real_type	Y_ISO_DDD (real_type s, real_type offs) const

real_type	X_SAE (real_type s, real_type offs) const

real_type	Y_SAE (real_type s, real_type offs) const

real_type	X_SAE_D (real_type s, real_type offs) const

real_type	Y_SAE_D (real_type s, real_type offs) const

real_type	X_SAE_DD (real_type s, real_type offs) const

real_type	Y_SAE_DD (real_type s, real_type offs) const

real_type	X_SAE_DDD (real_type s, real_type offs) const

real_type	Y_SAE_DDD (real_type s, real_type offs) const

void	eval_SAE (real_type s, real_type offs, real_type &x, real_type &y) const

void	eval_SAE_D (real_type s, real_type offs, real_type &x_D, real_type &y_D) const

void	eval_SAE_DD (real_type s, real_type offs, real_type &x_DD, real_type &y_DD) const

void	eval_SAE_DDD (real_type s, real_type offs, real_type &x_DDD, real_type &y_DDD) const

bool	collision_SAE (real_type offs, BaseCurve const *pC, real_type offs_C) const

void	intersect_SAE (real_type offs, BaseCurve const *pC, real_type offs_C, IntersectList &ilist) const

integer	closest_point_SAE (real_type qx, real_type qy, real_type &x, real_type &y, real_type &s, real_type &t, real_type &dst) const

integer	closest_point_SAE (real_type qx, real_type qy, real_type offs, real_type &x, real_type &y, real_type &s, real_type &t, real_type &dst) const

virtual real_type	distance (real_type qx, real_type qy) const

real_type	distance_ISO (real_type qx, real_type qy, real_type offs) const

real_type	distance_SAE (real_type qx, real_type qy, real_type offs) const

bool	findST_ISO (real_type x, real_type y, real_type &s, real_type &t) const

bool	findST_SAE (real_type x, real_type y, real_type &s, real_type &t) const

Friends
class	ClothoidList

class	BiarcList

ostream_type &	operator<< (ostream_type &stream, PolyLine const &P)

Detailed Description

Class to manage a collection of straight segment.

Member Function Documentation

◆ bb_triangles()

void G2lib::PolyLine::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]	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::PolyLine::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]	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::PolyLine::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]	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::PolyLine::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::PolyLine::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.

◆ change_origin()

void G2lib::PolyLine::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::PolyLine::closest_point_ISO	(	real_type	x,
		real_type	y,
		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]	x	\(x\)-coordinate
[in]	y	\(y\)-coordinate
[out]	X	\(x\)-coordinate of the closest point
[out]	Y	\(y\)-coordinate of the closest point
[out]	S	s-param of the closest point
[out]	T	t-param of the closest point
[out]	DST	the distance point-segment

Returns: the distance point-segment

Implements G2lib::BaseCurve.

◆ closest_point_ISO() [2/2]

integer G2lib::PolyLine::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()

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

overridevirtual

Check collision with another curve.

Implements G2lib::BaseCurve.

◆ collision_ISO()

bool G2lib::PolyLine::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.

◆ eval()

void G2lib::PolyLine::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::PolyLine::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::PolyLine::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::PolyLine::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::PolyLine::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]	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::PolyLine::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]	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::PolyLine::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]	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::PolyLine::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]	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.

◆ info()

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

inlineoverridevirtual

Pretty print of the curve data.

Implements G2lib::BaseCurve.

◆ intersect() [1/3]

void G2lib::PolyLine::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() [2/3]

void G2lib::PolyLine::intersect	(	PolyLine const &	pl,
		IntersectList &	ilist ) const

Intersect PolyLine with another PolyLine

Parameters

[in]	pl	other PolyLine
[out]	ilist	list of the intersection (as parameter on the curves)

◆ intersect() [3/3]

void G2lib::PolyLine::intersect	(	PolyLine const &	pl,
		vector< real_type > &	ss0,
		vector< real_type > &	ss1 ) const

Intersect PolyLine with another PolyLine

Parameters

[in]	pl	other PolyLine
[out]	ss0	list of the paramter of intersection
[out]	ss1	list of the paramter of intersection of the other PolyLine

◆ intersect_ISO() [1/2]

void G2lib::PolyLine::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::PolyLine::intersect_ISO	(	real_type	offs,
		PolyLine const &	pl,
		real_type	offs_pl,
		IntersectList &	ilist ) const

Intersect PolyLine with another PolyLine (not yet available)

Parameters

[in]	offs	PolyLine offset
[in]	pl	other PolyLine
[in]	offs_pl	Other Poliline offset
[out]	ilist	list of the intersection (as parameter on the curves)

◆ length()

real_type G2lib::PolyLine::length ( ) const

inlineoverridevirtual

The length of the curve

Implements G2lib::BaseCurve.

◆ length_ISO()

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

overridevirtual

The length of the curve with offset (ISO)

Implements G2lib::BaseCurve.

◆ reverse()

void G2lib::PolyLine::reverse ( )

overridevirtual

Reverse curve parameterization.

Implements G2lib::BaseCurve.

◆ rotate()

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

overridevirtual

Scale curve by factor sc.

Implements G2lib::BaseCurve.

◆ setup()

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

overridevirtual

Implements G2lib::BaseCurve.

◆ theta()

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

overridevirtual

Angle at curvilinear coordinate \(s\).

Implements G2lib::BaseCurve.

◆ theta_D()

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

overridevirtual

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

Implements G2lib::BaseCurve.

◆ theta_DD()

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

overridevirtual

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

Implements G2lib::BaseCurve.

◆ theta_DDD()

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

overridevirtual

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

Implements G2lib::BaseCurve.

◆ translate()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ trim()

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

overridevirtual

Cut curve at parametric coordinate s_begin and s_end.

Implements G2lib::BaseCurve.

◆ type()

CurveType G2lib::PolyLine::type ( ) const

inlineoverridevirtual

The name of the curve type

Implements G2lib::BaseCurve.

◆ X()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ x_begin()

real_type G2lib::PolyLine::x_begin ( ) const

inlineoverridevirtual

Initial \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ X_D()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ X_DD()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ X_DDD()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ x_end()

real_type G2lib::PolyLine::x_end ( ) const

inlineoverridevirtual

Final \(x\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ Y()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ y_begin()

real_type G2lib::PolyLine::y_begin ( ) const

inlineoverridevirtual

Initial \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

◆ Y_D()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ Y_DD()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ Y_DDD()

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

inlineoverridevirtual

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

Implements G2lib::BaseCurve.

◆ y_end()

real_type G2lib::PolyLine::y_end ( ) const

inlineoverridevirtual

Final \(y\)-coordinate.

Reimplemented from G2lib::BaseCurve.

Friends And Related Symbol Documentation

◆ operator<<

ostream_type & operator<<	(	ostream_type &	stream,
		PolyLine const &	P )

friend

Print on strem the PolyLine object

Parameters

stream	the output stream
P	an instance of `PolyLine` 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/PolyLine.hxx
/Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/src/PolyLine.cc

PolyLine Class Reference

Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ bb_triangles()

◆ bb_triangles_ISO()

◆ bb_triangles_SAE()

◆ bbox()

◆ bbox_ISO()

◆ change_origin()

◆ closest_point_ISO() [1/2]

◆ closest_point_ISO() [2/2]

◆ collision()

◆ collision_ISO()

◆ eval()

◆ eval_D()

◆ eval_DD()

◆ eval_DDD()

◆ eval_ISO()

◆ eval_ISO_D()

◆ eval_ISO_DD()

◆ eval_ISO_DDD()

◆ info()

◆ intersect() [1/3]

◆ intersect() [2/3]

◆ intersect() [3/3]

◆ intersect_ISO() [1/2]

◆ intersect_ISO() [2/2]

◆ length()

◆ length_ISO()

◆ reverse()

◆ rotate()

◆ scale()

◆ setup()

◆ theta()

◆ theta_D()

◆ theta_DD()

◆ theta_DDD()

◆ translate()

◆ trim()

◆ 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<<