BiarcList Class Reference

Inheritance diagram for BiarcList:

Public Member Functions
function	BiarcList ()
function	reserve (in self, in N)
function	push_back (in self, in varargin)
function	get (in self, in k)
function	append (in self, in lst)
function	get_XY (in self)
function	num_segments (in self)
function	numSegments (in self)
function	build_G1 (in self, in varargin)
function	build_theta (in self, in x, in y)
function	info (in self)
function	find_coord1 (in self, in x, in y)
function	plot (in self, in varargin)
function	plot_offs (in self, in offs, 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	plotNormal (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

BiarcList()

function BiarcList::BiarcList

(

)

Create a new C++ class instance for the list of biarc object

Usage:

self = BiarcList();

On output:

• self: reference handle to the object instance

Member Function Documentation

append()

function BiarcList::append	(	in	self,
		in	lst )

Append a biarc or a biarc list.

ba = Biarc( ... );
% ....
ref.append(ba); % append biarc
 
blist = BiarcList();
% ...
ref.append(blist); % append biarc list

build_G1()

function BiarcList::build_G1	(	in	self,
		in	varargin )

Build a biarc list given a set of points and if available the angles at the points. If the angles are missing the angle at a node is computed by building the circle passing by 3 consecutive points. The node is the middle point.

ref.build_G1(x,y);
ref.build_G1(x,y,theta);

• x, y: vectors of x and y coordinates of the nodes
• thetas: angles at the nodes

build_theta()

function BiarcList::build_theta	(	in	self,
		in	x,
		in	y )

Build the angles a the list of nodes. The angle at a node is computed by building the circle passing by 3 consecutive points. The node is the middle point.

thetas = ref.build_theta(x,y);

• x, y: vectors of x and y coordinates of the nodes

find_coord1()

function BiarcList::find_coord1	(	in	self,
		in	x,
		in	y )

Find curvilinear coordinates of inputs points

[ s, t, ipos ] = ref.find_coord1(x,y);

Input:

• x, y: vectors of x and y coordinates of the poinst

Output:

• s, t : curvilinar coordinates of the points
• ipos : the segment with point at minimal distance, otherwise -(idx+1) if (x,y) cannot be projected orthogonally on the segment

get()

function BiarcList::get	(	in	self,
		in	k )

Get the biarc at position k. The biarc is returned as a biarc object or the data defining the biarc.

BA = ref.get(k); % get the biarc object
[ x0, y0, theta0, x1, y1, theta1 ] = ref.get(k); % get the biarc data

get_XY()

function BiarcList::get_XY

(

in

self

)

Return the list of points (initial and final) of the biarcs

[ x, y ] = ref.get_XY();

num_segments()

function BiarcList::num_segments

(

in

self

)

Return number of biarc in the list

nseg = ref.num_segments();

numSegments()

function BiarcList::numSegments

(

in

self

)

Deprecated

whill be removed in future version

plot()

function BiarcList::plot	(	in	self,
		in	varargin )

Plot the biarc list

Usage:

ref.plot();
ref.plot( npts );
 
fmt1 = {'Color','blue','Linewidth',2}; % first arc of the biarc
fmt2 = {'Color','red','Linewidth',2};  % second arc of the biarc
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 BiarcList::plot_angle	(	in	self,
		in	npts,
		in	varargin )

Plot the angle of the biarc list

Usage:

ref.plotAngle( npts );
 
fmt1 = {'Color','blue','Linewidth',2};
fmt2 = {'Color','red','Linewidth',2};
ref.plotAngle( 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 BiarcList::plot_curvature	(	in	self,
		in	npts,
		in	varargin )

Plot the curvature of the biarc list

Usage:

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

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

plot_offs()

function BiarcList::plot_offs	(	in	self,
		in	offs,
		in	npts,
		in	varargin )

Plot the biarc list with offset

Usage:

ref.plot_offs( offs, npts );
 
fmt1 = {'Color','blue','Linewidth',2}; % first arc of the biarc
fmt2 = {'Color','red','Linewidth',2};  % second arc of the biarc
ref.plot_offs( offs, npts, fmt1, fmt2 );

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

plotAngle()

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

Deprecated

whill be removed in future version

plotCurvature()

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

Deprecated

whill be removed in future version

plotNormal() [1/2]

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

Plot the normal of the biarc list

Usage:

ref.plotNormal( step, len );

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

plotNormal() [2/2]

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

Deprecated

whill be removed in future version

push_back()

function BiarcList::push_back	(	in	self,
		in	varargin )

Append to the BiarcList another biarc. The biarc is obtained setting the final postion and angle while the initial position and angle are taken from the last biarc on the biarc list. Another possibility is to push a biarc is obtained by passing initial and final positions, initial and final angles.

Usage:

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

• x0, y0: initial position of the biarc to be appended
• theta0 : initial angle of the biarc to be appended
• x1, y1: final position of the biarc to be appended
• theta1 : final angle of the biarc to be appended

reserve()

function BiarcList::reserve	(	in	self,
		in	N )

Reserve memory for N biarc

Usage:

ref.reserve(N);

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

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