CircleArc Class Reference

Inheritance diagram for CircleArc:

Public Member Functions
function	CircleArc (in varargin)
function	build (in self, in x0, in y0, in theta0, in k0, in L)
function	build_G1 (in self, in varargin)
function	build_3P (in self, in varargin)
function	scale (in self, in sc)
function	change_curvilinear_origin (in self, in s0, in L)
function	changeCurvilinearOrigin (in self, in s0, in L)
function	to_nurbs (in self)
	return a nurbs representation of the circle arc
function	plot (in self, in npts, in fmt)
function	export (in self)
function	plot_polygon (in self, in varargin)
function	plotPolygon (in self, in varargin)
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

CircleArc()

function CircleArc::CircleArc

(

in

varargin

)

Create a new C++ class instance for the circle arc object

Usage:

ref = CircleArc() % create empty circle
ref = CircleArc( x0, y0, theta0, k0, L ) % circle passing from (x0,y0)
                                         % at angle theta0 with curvature k0
                                         % and length L

On input:

• x0, y0: coordinate of initial point
• theta0: orientation of the circle at initial point
• k0: curvature of the circle at initial point
• L: length of curve from initial to final point

On output:

• ref: reference handle to the object instance

Member Function Documentation

build()

function CircleArc::build	(	in	self,
		in	x0,
		in	y0,
		in	theta0,
		in	k0,
		in	L )

Build the circle from known parameters

Usage:

ref.build( x0, y0, theta0, k0, L )

build a circle passing from (x0,y0) at angle theta0 with curvature and length

On input:

• x0, y0: coordinate of initial point
• theta0: orientation of the circle at initial point
• k0: curvature of the circle at initial point
• L: length of curve from initial to final point

build_3P()

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

Build the circle arc given 3 points. The point can be alingned in this case a degenerate straight arc if build.

Usage:

ref.build_3P( x0, y0, x1, y1, x2, y2 )
ref.build_3P( p0, p1, p2 )

build_G1()

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

Build the circle from known parameters

Usage:

ref.build( x0, y0, theta0, x1, y1 ); % circle passing to [x0,y0] and [x1,y1]
                                     % with angle theta0 at [x0,y0]
ref.build( p0, theta0, p1 ); % circle passing to p0 and p1 with angle theta0 at p0

On input:

• x0, y0: coordinate of initial point
• theta0: orientation of the circle at initial point
• k0: curvature of the circle at initial point
• L: length of curve from initial to final point
• p0: 2D point
• p1: 2D point

change_curvilinear_origin()

function CircleArc::change_curvilinear_origin	(	in	self,
		in	s0,
		in	L )

Change the origin of the circle curve to s0 and set arc lenght to L

Usage:

ref.change_curvilinear_origin( s0, L );

changeCurvilinearOrigin()

function CircleArc::changeCurvilinearOrigin	(	in	self,
		in	s0,
		in	L )

Deprecated

whill be removed in future version

export()

function CircleArc::export

(

in

self

)

Export circle parameters

Usage:

S = ref.export();

• S.x0, S.y0: initial point of the circle arc
• S.x1, S.y1: final point of the circle arc
• S.theta0: initial angle of the circle arc
• S.theta1: final angle of the circle arc
• S.kappa: curvature of the circle arc
• S.L: length of the clothoid arc

plot()

function CircleArc::plot	(	in	self,
		in	npts,
		in	fmt )

Plot the arc

Usage:

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

• npts: number of sampling points for plotting
• fmt : format of the arc

plot_polygon()

function CircleArc::plot_polygon	(	in	self,
		in	varargin )

Plot the polygon of the NURBS for the arc

Usage:

ref.plotPolygon();
ref.plotPolygon( 'Color','blue','Linewidth',2 );

• fmt : format of the arc

plotPolygon()

function CircleArc::plotPolygon	(	in	self,
		in	varargin )

Deprecated

whill be removed in future version

scale()

function CircleArc::scale	(	in	self,
		in	sc )

Scale circle by sc factor

Usage:

ref.scale( sc );

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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/CircleArc.m