ClothoidList Class Reference

Clothoids: ClothoidList Class Reference

Clothoids

Inheritance diagram for ClothoidList:

Public Member Functions
function	ClothoidList ()

function	reserve (in self, in N)

function	save (in self, in fname)

function	load (in self, in varargin)

function	push_back (in self, in varargin)

function	push_back_G1 (in self, in varargin)

function	get (in self, in k)

function	append (in self, in lst)

function	get_STK (in self)

function	get_XY (in self)

function	num_segments (in self)

function	numSegments (in self)

function	build_3arcG2 (in self, in x0, in y0, in theta0, in kappa0, in)

function	build_3arcG2fixed (in self, in s0, in x0, in y0, in theta0, in kappa0, in)

function	build_2arcG2 (in self, in x0, in y0, in theta0, in kappa0, in)

function	build_CLC (in self, in x0, in y0, in theta0, in kappa0, in)

function	build_G1 (in self, in x, in y, in varargin)

function	build (in self, in x0, in y0, in theta0, in s, in kappa)

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

function	build_raw (in self, in x, in y, in abscissa, in theta, in kappa)

function	make_closed (in self)

function	make_open (in self)

function	is_closed (in self)

function	deltaTheta (in self)

function	deltaKappa (in self)

function	closest_point_by_sample (in self, in qx, in qy, in ds)

function	closestPointBySample (in self, in qx, in qy, in ds)

function	distanceBySample (in self, in qx, in qy, in ds)

function	closest_segment (in self, in qx, in qy)

function	closestSegment (in self, in qx, in qy)

function	closest_point_in_range (in self, in qx, in qy, in ibegin, in iend, in varargin)

function	closestPointInRange (in self, in qx, in qy, in ibegin, in iend, in varargin)

function	closest_point_in_s_range (in self, in qx, in qy, in s_begin, in s_end, in varargin)

function	closestPointInSRange (in self, in qx, in qy, in s_begin, in s_end, in varargin)

function	s_to_index (in self, in s)

function	export_table (in self, in filename)

function	export_ruby (in self, in filename)

function	info (in self)

function	find_coord1 (in self, in x, in y, in varargin)

function	export (in self)

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	plot_normal (in self, in step, in len)

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

function	save_clothoids (in self, in filename)

function	saveClothoids (in self, in filename)

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

◆ ClothoidList()

function ClothoidList::ClothoidList ( )

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

Usage:

ref = ClothoidCurve()

On output:

ref: reference handle to the object instance

Member Function Documentation

◆ append()

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

Append a curve to a clothoid list.

C = LineSegment( ... );
...
C = Biarc( ... );
...
C = CircleArc( ... );
% ....
ref.append(C); % append biarc

◆ build()

function ClothoidList::build	(	in	self,
		in	x0,
		in	y0,
		in	theta0,
		in	s,
		in	kappa )

Given a list of curvilinear coordinated and curvatures at nodes build a G2 clothoid list. Initial position and angle must be set to determine a unique clothoid list.

ref.build( x0, y0, theta0, s, kappa );

x0 initial x-coordinates
y0 initial y-coordinates at nodes
theta0 initial angle
s list of curvilinear coordinates
kappa list of curvatures at nodes

◆ build_G1()

function ClothoidList::build_G1	(	in	self,
		in	x,
		in	y,
		in	varargin )

Given a list of xy-coordinates at node points build a clothoid list. If third argument (angle) is not present angles are estimated internally.

ref.build_G1( x, y );

ref.build_G1( x, y, theta );

x x-coordinates at nodes
y y-coordinates at nodes
theta angle at nodes

◆ build_theta()

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

Given a list of xy-coordinates at node points build a guess of angles for the clothoid list.

theta = ref.build_theta( x, y );

x x-coordinates at nodes
y y-coordinates at nodes

◆ closest_point_in_s_range()

function ClothoidList::closest_point_in_s_range	(	in	self,
		in	qx,
		in	qy,
		in	s_begin,
		in	s_end,
		in	varargin )

Find closest point of a Clothoid list given a s-range

[ icurve, x, y, s, t, iflag, dst ] = ...
   ref.closest_point_in_s_range( qx, qy, s_begin, s_end, varargin );
 
[ icurve, x, y, s, t, iflag, dst ] = ...
   ref.closest_point_in_s_range( qx, qy, s_begin, s_end, varargin, 'ISO' );
 
[ icurve, x, y, s, t, iflag, dst ] = ...
   ref.closest_point_in_s_range( qx, qy, s_begin, s_end, varargin, 'SAE' );
 
res = ref.closest_point_in_s_range( qx, qy, s_begin, s_end, varargin );
res = ref.closest_point_in_s_range( qx, qy, s_begin, s_end, varargin, 'ISO' );
res = ref.closest_point_in_s_range( qx, qy, s_begin, s_end, varargin, 'SAE' );
 
%
% res is a struct with field
%
% res.icurve = number of the segment with the projected point
% res.x      = projected x
% res.y      = projected y
% res.s      = curvilinear coordinate of the projection
% res.t      = normal curvilinear coordinate ('ISO' or 'SAE' convenction)
% res.iflag  = 1 OK -1 projection failed
% res.dst    = point curve distance
%

◆ closestPointInRange()

function ClothoidList::closestPointInRange	(	in	self,
		in	qx,
		in	qy,
		in	ibegin,
		in	iend,
		in	varargin )

Deprecated: whill be removed in future version

◆ closestPointInSRange()

function ClothoidList::closestPointInSRange	(	in	self,
		in	qx,
		in	qy,
		in	s_begin,
		in	s_end,
		in	varargin )

Deprecated: whill be removed in future version

◆ export()

function ClothoidList::export ( in self )

Export list of clothoids

Usage:

S = ref.export();

S.x0: vector of initial point x-coordinate
S.y0: vector of initial point y-coordinate
S.theta0: vector of initial angles
S.kappa0: vector of initial curvatures
S.dkappa: vector of curvature derivative of the segments
S.L: vector of segment length

◆ get()

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

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

[ x0, y0, theta0, kappa0, dkappa, L ] = ref.get(k);

C = ref.get(k);

◆ get_STK()

function ClothoidList::get_STK ( in self )

Return curvilinear coordinates, angle and curvature at node point for the clothoid list

[ s, theta, kappa ] = ref.get_STK();

s curvilinear coordinates nodes
theta angles at nodes
kappa curvature at nodes

◆ get_XY()

function ClothoidList::get_XY ( in self )

Return xy-coordinates at node points for the clothoid list

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

x x-coordinates at nodes
y y-coordinates at nodes

◆ load()

function ClothoidList::load	(	in	self,
		in	varargin )

Load the clothoid list from a file (check consistency of the readed segments)

Usage:

ref.load( filename );

ref.load( filename, tol );

filename : file name to be read tol : tolerance used to check consistency

◆ numSegments()

function ClothoidList::numSegments ( in self )

Deprecated: whill be removed in future version

◆ plot()

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

Plot the clothoid 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 odd clothoids
fmt2: format of the even clothoids

◆ plot_angle()

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

Plot the angle of the clothoid 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 ClothoidList::plot_curvature	(	in	self,
		in	npts,
		in	varargin )

Plot the curvature of the clothoid 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_normal()

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

Plot the normal of the clothoid list

Usage:

ref.plotNormal( step, len );

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

◆ plot_offs()

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

Plot the clothoid 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 ClothoidList::plotAngle	(	in	self,
		in	npts,
		in	varargin )

Deprecated: whill be removed in future version

◆ plotCurvature()

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

Deprecated: whill be removed in future version

◆ plotNormal()

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

Deprecated: whill be removed in future version

◆ push_back()

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

Append a curve to the clothoid list

Usage:

ref.push_back( obj ); % mode 1
ref.push_back( kappa0, dkappa, L ); % mode 2
ref.push_back( x0, y0, theta0, kappa0, dkappa, L ); % mode 3

Mode 1

obj : curve to be appended can be one of
- LineSegment
- BiArc
- BiarcList
- CircleArc
- ClothoidCurve
- ClothoidList
- PolyLine

Mode 2

kappa0 : initial curvature of the appended clothoid
dkappa : derivative of the curvature of the appended clothoid
L : length of the the appended clothoid

Mode 3

x0, y0 : initial position of the appended clothoid, the builded clothoid will be translated to the and of the actual clothoid list
theta0 : initial curvature of the appended clothoid
kappa0 : initial curvature of the appended clothoid
dkappa : derivative of the curvature of the appended clothoid
L : length of the the appended clothoid

◆ push_back_G1()

function ClothoidList::push_back_G1	(	in	self,
		in	varargin )

Append a curve to the clothoid list

Usage:

ref.push_back( x1,y1,theta1 ); % mode 1

ref.push_back( x0,y0,theta0,x1,y1,theta1); % mode 2

Mode 1

Build a clothoid arc using final point and angle of the clothoid list and

x1, y1 : final point
theta1 : final angle

the builded clothoid is appended to the list

Mode 2

Build a clothoid arc using the data

x0, y0 : initial point
theta0 : initial angle
x1, y1 : final point
theta1 : final angle

the builded clothoid is appended to the list

◆ reserve()

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

Reserve memory for N segments

Usage:

ref.reserve( N );

◆ save()

function ClothoidList::save	(	in	self,
		in	fname )

Save the clothoid list to a file

◆ save_clothoids()

function ClothoidList::save_clothoids	(	in	self,
		in	filename )

Save the clothoid list sampled on a file

Usage:

ref.saveSampled( filename, ds );

filename: file name
ds: sample point every ds

the file is of the form .. code-block:: text

X Y THETA 0 0 1.2 ... ...

        */
public:
     function save_sampled(in  self,in  filename,in  ds );
 
public:
     function saveSampled(in  self,in  filename,in  ds );

{matlab}

ref.saveClothoids( filename, ds );

- `filename`: file name
- `ds`:       sample point every `ds`
 
the file is of the form
.. code-block:: text
 
  x0 y0 theta0 kappa0 dk  L
  0  0  1.2    0.0    0.1 2
  ...
  ...

◆ saveClothoids()

function ClothoidList::saveClothoids	(	in	self,
		in	filename )

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/ClothoidList.m

ClothoidList Class Reference

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ClothoidList()

Member Function Documentation

◆ append()

◆ build()

◆ build_G1()

◆ build_theta()

◆ closest_point_in_s_range()

◆ closestPointInRange()

◆ closestPointInSRange()

◆ export()

◆ get()

◆ get_STK()

◆ get_XY()

◆ load()

◆ numSegments()

◆ plot()

◆ plot_angle()

◆ plot_curvature()

◆ plot_normal()

◆ plot_offs()

◆ plotAngle()

◆ plotCurvature()

◆ plotNormal()

◆ push_back()

◆ push_back_G1()

◆ reserve()

◆ save()

◆ save_clothoids()

◆ saveClothoids()