ClothoidCurve Class Reference

Clothoids: ClothoidCurve Class Reference
Clothoids
Public Member Functions | List of all members
ClothoidCurve Class Reference
Inheritance diagram for ClothoidCurve:
CurveBase

Public Member Functions

function ClothoidCurve (in varargin)
 
function build (in self, in varargin)
 
function build_G1 (in self, in x0, in y0, in theta0, in x1, in y1, in theta1)
 
function build_forward (in self, in x0, in y0, in theta0, in k0, in x1, in y1)
 
- 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

◆ ClothoidCurve()

function ClothoidCurve::ClothoidCurve ( in varargin)

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

Usage:

ref = ClothoidCurve()
ref = ClothoidCurve( x0, y0, theta0, k0, dk, L )

On input:

  • x0, y0: coordinate of initial point
  • theta0: orientation of the clothoid at initial point
  • k0: curvature of the clothoid at initial point
  • dk: derivative of curvature respect to arclength
  • L: length of curve from initial to final point

On output:

  • ref: reference handle to the object instance

Member Function Documentation

◆ build()

function ClothoidCurve::build ( in self,
in varargin )

Build the clothoid from known parameters

Usage:

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

On input:

  • x0, y0: coordinate of initial point
  • theta0: orientation of the clothoid at initial point
  • k0: curvature of the clothoid at initial point
  • dk: derivative of curvature respect to arclength
  • L: length of curve from initial to final point

◆ build_forward()

function ClothoidCurve::build_forward ( in self,
in x0,
in y0,
in theta0,
in k0,
in x1,
in y1 )

Build the interpolating clothoid arc fixing initial position angle and curvature

Usage:

ok = ref.build_forward( x0, y0, theta0, k0, x1, y1 );

On input:

  • x0, y0: coordinate of initial point
  • theta0: orientation of the clothoid at initial point
  • k0: curvature of the clothoid at initial point
  • x1, y1: coordinate of final point

On output:

  • ok: true iff the interpolation was successful

◆ build_G1()

function ClothoidCurve::build_G1 ( in self,
in x0,
in y0,
in theta0,
in x1,
in y1,
in theta1 )

Build the interpolating G1 clothoid arc

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
The documentation for this class was generated from the following file:
  • /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/toolbox/lib/ClothoidCurve.m
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