Biarc Class Reference

Inheritance diagram for Biarc:

Public Member Functions
function	Biarc (in varargin)
	MATLAB class wrapper for the underlying C++ class.
function	build (in self, in x0, in y0, in theta0, in x1, in y1, in theta1)
function	build_3P (in self, in varargin)
function	x_middle (in self)
function	xMiddle (in self)
function	y_middle (in self)
function	yMiddle (in self)
function	theta_middle (in self)
function	thetaMiddle (in self)
function	kappa0 (in self)
function	kappa1 (in self)
function	length0 (in self)
function	length1 (in self)
function	getData (in self)
function	get_circles (in self)
function	getCircles (in self)
function	to_nurbs (in self)
function	find_coord (in self, in x, in y)
function	plot (in self, in npts, in varargin)
function	plot_curvature (in self, in npts, in varargin)
function	plotCurvature (in self, in npts, in varargin)
function	plot_angle (in self, in npts, in varargin)
function	plotAngle (in self, in npts, in varargin)
function	plot_normal (in self, in step, in len)
function	plotNormal (in self, in step, in len)
Public Member Functions inherited from CurveBase
function	CurveBase (in mexName, in objectType)
function	obj_handle (in self)
function	is_type (in self)
function	load (in self, in OBJ)
function	bbox (in self, in varargin)
function	translate (in self, in tx, in ty)
function	trim (in self, in smin, in smax)
function	rotate (in self, in angle, in cx, in cy)
function	reverse (in self)
function	scale (in self, in sc)
function	change_origin (in self, in newX0, in newY0)
function	changeOrigin (in self, in newX0, in newY0)
function	evaluate (in self, in s, in varargin)
function	eval (in self, in varargin)
function	eval_D (in self, in varargin)
function	eval_DD (in self, in varargin)
function	eval_DDD (in self, in varargin)
function	theta (in self, in s)
function	theta_D (in self, in s)
function	theta_DD (in self, in s)
function	theta_DDD (in self, in s)
function	kappa (in self, in s)
function	kappa_D (in self, in s)
function	kappa_DD (in self, in s)
function	xy_begin (in self)
function	xyBegin (in self)
function	xy_end (in self)
function	xyEnd (in self)
function	x_begin (in self)
function	xBegin (in self)
function	x_end (in self)
function	xEnd (in self)
function	y_begin (in self)
function	yBegin (in self)
function	y_end (in self)
function	yEnd (in self)
function	theta_begin (in self)
function	thetaBegin (in self)
function	theta_end (in self)
function	thetaEnd (in self)
function	kappa_begin (in self)
function	kappaBegin (in self)
function	kappa_end (in self)
function	kappaEnd (in self)
function	length (in self, in varargin)
function	points (in self)
function	bbTriangles (in self, in varargin)
function	closest_point (in self, in qx, in qy, in varargin)
function	closestPoint (in self, in qx, in qy, in varargin)
function	distance (in self, in qx, in qy, in varargin)
function	collision (in self, in OBJ, in varargin)
function	intersect (in self, in OBJ, in varargin)
function	info (in self)
function	find_coord (in self, in x, in y)
function	yesAABBtree (in self)
function	noAABBtree (in self)
function	plot_tbox (in self, in P1, in P2, in P3, in varargin)
function	plotTBox (in self, in P1, in P2, in P3, in varargin)
function	plot_bbox (in self, in varargin)
function	plotBBox (in self, in varargin)
function	plot_triangles (in self, in varargin)
function	plotTriangles (in self, in varargin)

Additional Inherited Members
Protected Member Functions inherited from CurveBase
function	copyElement (in self)
Protected Attributes inherited from CurveBase
Property	mexName
Property	objectHandle
Property	call_delete
Property	objectType

Constructor & Destructor Documentation

Biarc()

function Biarc::Biarc

(

in

varargin

)

MATLAB class wrapper for the underlying C++ class.

Create a new C++ class instance for the Biarc object

Usage:

self = Biarc();
self = Biarc( x0, y0, theta0, x1, y1, theta1 );

Optional Arguments:

• x0, y0: coordinate of initial point
• theta0 : orientation of the clothoid at initial point
• x1, y1: coordinate of final point
• theta1 : orientation of the clothoid at final point

On output:

• self: reference handle to the object instance

Member Function Documentation

build()

function Biarc::build	(	in	self,
		in	x0,
		in	y0,
		in	theta0,
		in	x1,
		in	y1,
		in	theta1 )

Build the interpolating G1 biarc

Usage:

ref.build_G1( x0, y0, theta0, x1, y1, theta1 );

On input:

• x0, y0: coordinate of initial point
• theta0 : orientation of the clothoid at initial point
• x1, y1: coordinate of final point
• theta1 : orientation of the clothoid at final point

build_3P()

function Biarc::build_3P	(	in	self,
		in	varargin )

Build the interpolating biarc by 3 points

Usage:

ref.build_3P( x0, y0, x1, y1, x2, y2 );
ref.build_3P( [x0, y0], [x1, y1], [x2, y2] );

On input:

• x0, y0: coordinate of initial point
• x1, y1: coordinate of middle point
• x2, y2: coordinate of final point

alternative

p0: coordinate of initial point p1: coordinate of middle point p2: coordinate of final point

find_coord()

function Biarc::find_coord	(	in	self,
		in	x,
		in	y )

Get the curvilinear coordinates of the point (x,y)

Usage:

[s,t] = ref.find_coord( x, y );

• s: curvilinear coordinate along the curve
• t: curvilinear coordinate along the normal of the curve

get_circles()

function Biarc::get_circles

(

in

self

)

Get the two circle arc composing a biarc

Usage:

[C0,C1] = ref.get_circles();

getData()

function Biarc::getData

(

in

self

)

Get the biarc G1 data

Usage:

[x0,y0,theta0,x1,y1,theta1] = ref.getData();

• x0, y0: initial point of the biarc
• theta0 : initial angle of the biarc
• x1, y1: final point of the biarc
• theta1 : final angle of the biarc

kappa0()

function Biarc::kappa0

(

in

self

)

Get curvature of the first arc of the biarc

Usage:

kappa0 = ref.kappa0();

kappa1()

function Biarc::kappa1

(

in

self

)

Get curvature of the second arc of the biarc

Usage:

kappa1 = ref.kappa1();

length0()

function Biarc::length0

(

in

self

)

Get length of the first arc of the biarc

Usage:

length0 = ref.length0();

length1()

function Biarc::length1

(

in

self

)

Get length of the second arc of the biarc

Usage:

length1 = ref.length1();

plot()

function Biarc::plot	(	in	self,
		in	npts,
		in	varargin )

Plot the biarc

Usage:

ref.plot( npts );
 
fmt1 = {'Color','blue','Linewidth',2};
fmt2 = {'Color','red','Linewidth',2};
ref.plot( npts, fmt1, fmt2 );

• npts: number of sampling points for plotting
• fmt1: format of the first arc
• fmt2: format of the second arc

plot_angle()

function Biarc::plot_angle	(	in	self,
		in	npts,
		in	varargin )

Plot the angle of the biarc

Usage:

ref.plot_angle( npts );
 
fmt1 = {'Color','blue','Linewidth',2};
fmt2 = {'Color','red','Linewidth',2};
ref.plot_angle( npts, fmt1, fmt2 );

• npts: number of sampling points for plotting
• fmt1: format of the first arc
• fmt2: format of the second arc

plot_curvature()

function Biarc::plot_curvature	(	in	self,
		in	npts,
		in	varargin )

Plot the curvature of the biarc

Usage:

ref.plotCurvature( npts );
 
fmt1 = {'Color','blue','Linewidth',2};
fmt2 = {'Color','red','Linewidth',2};
ref.plot_curvature( npts, fmt1, fmt2 );

• npts: number of sampling points for plotting
• fmt1: format of the first arc
• fmt2: format of the second arc

plot_normal()

function Biarc::plot_normal	(	in	self,
		in	step,
		in	len )

Plot the normal of the biarc

Usage:

ref.plot_normal( step, len );

• step: number of sampling normals
• len: length of the plotted normal

plotAngle()

function Biarc::plotAngle	(	in	self,
		in	npts,
		in	varargin )

Deprecated

whill be removed in future version

plotCurvature()

function Biarc::plotCurvature	(	in	self,
		in	npts,
		in	varargin )

Deprecated

whill be removed in future version

plotNormal()

function Biarc::plotNormal	(	in	self,
		in	step,
		in	len )

Deprecated

whill be removed in future version

theta_middle()

function Biarc::theta_middle

(

in

self

)

Get junction point angle of the biarc

Usage:

theta = ref.theta_middle();

thetaMiddle()

function Biarc::thetaMiddle

(

in

self

)

Deprecated

whill be removed in future version

to_nurbs()

function Biarc::to_nurbs

(

in

self

)

Return the nurbs represantation of the two arc composing the biarc

Usage:

[arc0,arc1] = ref.to_nurbs();

• arc0: the nurbs of the first arc
• arc1: the nurbs of the second arc

x_middle()

function Biarc::x_middle

(

in

self

)

Get junction point of the biarc x-coordinate

Usage:

x = ref.x_middle();

xMiddle()

function Biarc::xMiddle

(

in

self

)

Deprecated

whill be removed in future version

y_middle()

function Biarc::y_middle

(

in

self

)

Get junction point of the biarc y-coordinate

Usage:

x = ref.y_middle();

yMiddle()

function Biarc::yMiddle

(

in

self

)

Deprecated

whill be removed in future version

---

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

• /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/toolbox/lib/Biarc.m