CurveBase Class Reference

Inheritance diagram for CurveBase:

Public Member Functions
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)

Protected Member Functions
function	copyElement (in self)

Protected Attributes
Property	mexName
Property	objectHandle
Property	call_delete
Property	objectType

Member Function Documentation

bbox()

function CurveBase::bbox	(	in	self,
		in	varargin )

Return the bounding box of the curve object

Usage

[ xmin, ymin, xmax, ymax ] = ref.bbox( C );
[ xmin, ymin, xmax, ymax ] = ref.bbox( C, offs );
[ xmin, ymin, xmax, ymax ] = ref.bbox( C, offs, 'ISO' );
[ xmin, ymin, xmax, ymax ] = ref.bbox( C, offs, 'SAE' );

• xmin: x minimum coordinate of the bounding box
• ymin: y minimum coordinate of the bounding box
• xmax: x maximum coordinate of the bounding box
• ymax: y maximum coordinate of the bounding box

Optional Arguments

• offs: offset of the curve used in the bbox computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for offset computation

bbTriangles()

function CurveBase::bbTriangles	(	in	self,
		in	varargin )

Evaluate the bounding box triangles of curve.

Usage

[P1,P2,P3] = ref.bbTriangles();
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size);
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size,offs);
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size,offs,'ISO');
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size,offs,'SAE');

Optional Arguments

• max_angle: maximum curve angle variation admitted in a triangle
• max_size: maximum triangles size
• offs: offset of the curve used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for the offset

Output

• P1: 2 x n matrix with the first points of the triangles
• P2: 2 x n matrix with the second points of the triangles
• P3: 2 x n matrix with the third points of the triangles

change_origin()

function CurveBase::change_origin	(	in	self,
		in	newX0,
		in	newY0 )

Translate the curve in such a way the origin is at (newX0,newY0).

Usage

ref.change_origin( newX0, newY0 );

changeOrigin()

function CurveBase::changeOrigin	(	in	self,
		in	newX0,
		in	newY0 )

Deprecated

whill be removed in future version

closest_point()

function CurveBase::closest_point	(	in	self,
		in	qx,
		in	qy,
		in	varargin )

Evaluate the point at minimum distance of another point on the curve. qx and qy may be vectors so that the return values are vectors too.

Usage

[ x, y, s, t, iflag, dst ] = ref.closest_point( qx, qy );
[ x, y, s, t, iflag, dst ] = ref.closest_point( qx, qy, offs );
[ x, y, s, t, iflag, dst ] = ref.closest_point( qx, qy, offs, 'ISO' );
[ x, y, s, t, iflag, dst ] = ref.closest_point( qx, qy, offs, 'SAE' );

Optional Arguments

• offs: offset of the curve used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for the offset

Output

• x, y: Point at minimum distance from (qx,qy) on the curve.
• s, t: Curvilinear coordinates of the point (qx,qy).
• iflag: iflag < 0 some error in computation, iflag >0 is the numer of segment containing the point at minimum distance.
• dst: point curve distance.

closestPoint()

function CurveBase::closestPoint	(	in	self,
		in	qx,
		in	qy,
		in	varargin )

Deprecated

whill be removed in future version

collision()

function CurveBase::collision	(	in	self,
		in	OBJ,
		in	varargin )

Check if two curve collide.

Usage

ok = ref.collision( obj );
ok = ref.collision( obj, offs, offs1 );
ok = ref.collision( obj, offs, offs1, 'ISO' );
ok = ref.collision( obj, offs, offs1, 'SAE' );

Optional Arguments

• offs, offs1: offset of the curves used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for the offsets

copyElement()

function CurveBase::copyElement ( in self )

protected

Make a deep copy of a curve object

Usage

B = A.copy();

where A is the curve object to be copied.

distance()

function CurveBase::distance	(	in	self,
		in	qx,
		in	qy,
		in	varargin )

Evaluate the distance of a point (qx,qy) to the curve. qx and qy may be vectors so that the return values are vectors too.

Usage

dst = ref.distance( qx, qy );
dst = ref.distance( qx, qy, offs );
dst = ref.distance( qx, qy, offs, 'ISO' );
dst = ref.distance( qx, qy, offs, 'SAE' );

Optional Arguments

• offs: offset of the curve used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for the offset

eval()

function CurveBase::eval	(	in	self,
		in	varargin )

Evaluate the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval( s );
XY = ref.eval( s, offs );
XY = ref.eval( s, offs, 'ISO' );
XY = ref.eval( s, offs, 'SAE' );
 
[X,Y] = ref.eval( s );
[X,Y] = ref.eval( s, offs );
[X,Y] = ref.eval( s, offs, 'ISO' );
[X,Y] = ref.eval( s, offs, 'SAE' );

Optional Arguments

• offs: offset of the curve used compiutation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for offset computation

Output

• XY: matrix 2 x n of the evaluated points
• X: vector of the x-coordinates of the evaluated points
• Y: vector of the y-coordinates of the evaluated points

eval_D()

function CurveBase::eval_D	(	in	self,
		in	varargin )

Evaluate the first derivatives of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval_D( s );
XY = ref.eval_D( s, offs );
XY = ref.eval_D( s, offs, 'ISO' );
XY = ref.eval_D( s, offs, 'SAE' );
 
[X,Y] = ref.eval_D( s );
[X,Y] = ref.eval_D( s, offs );
[X,Y] = ref.eval_D( s, offs, 'ISO' );
[X,Y] = ref.eval_D( s, offs, 'SAE' );

Optional Arguments

• offs: offset of the curve used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for offset computation

Output

• XY: matrix 2 x n of the evaluated points
• X: vector of the x-coordinates of the evaluated point derivatives
• Y: vector of the y-coordinates of the evaluated point derivatives

eval_DD()

function CurveBase::eval_DD	(	in	self,
		in	varargin )

Evaluate the second derivatives of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval_DD( s );
XY = ref.eval_DD( s, offs );
XY = ref.eval_DD( s, offs, 'ISO' );
XY = ref.eval_DD( s, offs, 'SAE' );
 
[X,Y] = ref.eval_DD( s );
[X,Y] = ref.eval_DD( s, offs );
[X,Y] = ref.eval_DD( s, offs, 'ISO' );
[X,Y] = ref.eval_DD( s, offs, 'SAE' );

Optional Arguments

• offs: offset of the curve used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for offset computation

Output

• XY: matrix 2 x n of the evaluated points
• X: vector of the x-coordinates of the evaluated point derivatives
• Y: vector of the y-coordinates of the evaluated point derivatives

eval_DDD()

function CurveBase::eval_DDD	(	in	self,
		in	varargin )

Evaluate the third derivatives of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval_DDD( s );
XY = ref.eval_DDD( s, offs );
XY = ref.eval_DDD( s, offs, 'ISO' );
XY = ref.eval_DDD( s, offs, 'SAE' );
 
[X,Y] = ref.eval_DDD( s );
[X,Y] = ref.eval_DDD( s, offs );
[X,Y] = ref.eval_DDD( s, offs, 'ISO' );
[X,Y] = ref.eval_DDD( s, offs, 'SAE' );

Optional Arguments

• offs: offset of the curve used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for offset computation

Output

• XY: matrix 2 x n of the evaluated points
• X: vector of the x-coordinates of the evaluated point derivatives
• Y: vector of the y-coordinates of the evaluated point derivatives

evaluate()

function CurveBase::evaluate	(	in	self,
		in	s,
		in	varargin )

Evaluate the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

[ x, y, theta, kappa ] = ref.evaluate( s );
[ x, y, theta, kappa ] = ref.evaluate( s, offs );
[ x, y, theta, kappa ] = ref.evaluate( s, offs, 'ISO' );
[ x, y, theta, kappa ] = ref.evaluate( s, offs, 'SAE' );

Optional Arguments

• offs: offset of the curve used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for offset computation

find_coord()

function CurveBase::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

info()

function CurveBase::info

(

in

self

)

Print on the console some information on the stored curve.

Usage

ref.info();

intersect()

function CurveBase::intersect	(	in	self,
		in	OBJ,
		in	varargin )

Intersect two curves.

Usage

[s1,s2] = ref.intersect( obj );
[s1,s2] = ref.intersect( obj, offs, offs1 );
[s1,s2] = ref.intersect( obj, offs, offs1, 'ISO' );
[s1,s2] = ref.intersect( obj, offs, offs1, 'SAE' );

• s1: curvilinear coordinates of the intersections on the first curve
• s2: curvilinear coordinates of the intersections on the second curve

Optional Argument

• offs, offs1: offset of the curves used in computation
• 'ISO'/'SAE': use ISO or SAE orientation of the normal for the offsets

kappa()

function CurveBase::kappa	(	in	self,
		in	s )

Evaluate the curvature of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.kappa( s );

kappa_begin()

function CurveBase::kappa_begin

(

in

self

)

Evaluate initial curvature of the curve.

Usage

kappa0 = ref.kappa_begin();

kappa_D()

function CurveBase::kappa_D	(	in	self,
		in	s )

Evaluate the curvature derivative of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.kappa_D( s );

kappa_DD()

function CurveBase::kappa_DD	(	in	self,
		in	s )

Evaluate the curvature second derivative of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.kappa_DD( s );

kappa_end()

function CurveBase::kappa_end

(

in

self

)

Evaluate final curvature of the curve.

Usage

kappa1 = ref.kappa_end();

kappaBegin()

function CurveBase::kappaBegin

(

in

self

)

Deprecated

whill be removed in future version

kappaEnd()

function CurveBase::kappaEnd

(

in

self

)

Deprecated

whill be removed in future version

length()

function CurveBase::length	(	in	self,
		in	varargin )

Return the length of the curve.

Usage

length = ref.length();

noAABBtree()

function CurveBase::noAABBtree

(

in

self

)

Deactivate the use of AABB three in intersection/collision computations

obj_handle()

function CurveBase::obj_handle

(

in

self

)

Return the pointer of the interbal stored c++ object

Usage

obj = ref.obj_handle();

plot_bbox()

function CurveBase::plot_bbox	(	in	self,
		in	varargin )

Plot the bounding box of the curve

Usage:

ref.plot_bbox();
ref.plot_bbox( 'Color', 'red' );

plot_tbox()

function CurveBase::plot_tbox	(	in	self,
		in	P1,
		in	P2,
		in	P3,
		in	varargin )

Plot a triangle BBOX

Usage:

ref.plot_tbox( P1, P2, P3 );
ref.plot_tbox( P1, P2, P3, 'Color', 'red' );

plot_triangles()

function CurveBase::plot_triangles	(	in	self,
		in	varargin )

Plot the covering triangles of the curve

Usage:

ref.plot_triangles()
ref.plot_triangles('red','FaceAlpha', 0.5);

plotBBox()

function CurveBase::plotBBox	(	in	self,
		in	varargin )

Deprecated

whill be removed in future version

plotTBox()

function CurveBase::plotTBox	(	in	self,
		in	P1,
		in	P2,
		in	P3,
		in	varargin )

Deprecated

whill be removed in future version

plotTriangles()

function CurveBase::plotTriangles	(	in	self,
		in	varargin )

Deprecated

whill be removed in future version

reverse()

function CurveBase::reverse

(

in

self

)

Reverse the direction of travel of the curve.

Usage

ref.reverse();

rotate()

function CurveBase::rotate	(	in	self,
		in	angle,
		in	cx,
		in	cy )

Rotate the curve by angle angle around point (cx, cy)

Usage

ref.rotate( angle, cx, cy );

scale()

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

Scale the curve by factor sc

Usage

ref.scale( sc );

theta()

function CurveBase::theta	(	in	self,
		in	s )

Evaluate the angle of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta( s );

theta_begin()

function CurveBase::theta_begin

(

in

self

)

Evaluate initial angle of the curve.

Usage

theta = ref.theta_begin();

theta_D()

function CurveBase::theta_D	(	in	self,
		in	s )

Evaluate the angle derivatives (curvature) of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta_D( s );

theta_DD()

function CurveBase::theta_DD	(	in	self,
		in	s )

Evaluate the angle second derivatuve of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta_DD( s );

theta_DDD()

function CurveBase::theta_DDD	(	in	self,
		in	s )

Evaluate the angle third derivative of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta_DDD( s );

theta_end()

function CurveBase::theta_end

(

in

self

)

Evaluate final angle of the curve.

Usage

theta = ref.theta_end();

thetaBegin()

function CurveBase::thetaBegin

(

in

self

)

Deprecated

whill be removed in future version

thetaEnd()

function CurveBase::thetaEnd

(

in

self

)

Deprecated

whill be removed in future version

translate()

function CurveBase::translate	(	in	self,
		in	tx,
		in	ty )

Translate the curve by (tx,ty)

Usage

ref.translate( tx, ty );

trim()

function CurveBase::trim	(	in	self,
		in	smin,
		in	smax )

Cut the curve at the curvilinear parameter smin up to smax

Usage

ref.trim( smin, smax );

x_begin()

function CurveBase::x_begin

(

in

self

)

Evaluate initial x-coordinate of the curve.

Usage

x0 = ref.x_begin();

x_end()

function CurveBase::x_end

(

in

self

)

Evaluate final x-coordinate of the curve.

Usage

x1 = ref.x_end();

xBegin()

function CurveBase::xBegin

(

in

self

)

Deprecated

whill be removed in future version

xEnd()

function CurveBase::xEnd

(

in

self

)

Deprecated

whill be removed in future version

xy_begin()

function CurveBase::xy_begin

(

in

self

)

Evaluate initial point of the curve.

Usage

[ x0, y0 ] = ref.xy_begin();

xy_end()

function CurveBase::xy_end

(

in

self

)

Evaluate final point of the curve.

Usage

[ x1, y1 ] = ref.xy_end();

xyBegin()

function CurveBase::xyBegin

(

in

self

)

Deprecated

whill be removed in future version

xyEnd()

function CurveBase::xyEnd

(

in

self

)

Deprecated

whill be removed in future version

y_begin()

function CurveBase::y_begin

(

in

self

)

Evaluate initial y-coordinate of the curve.

Usage

y0 = ref.y_begin();

y_end()

function CurveBase::y_end

(

in

self

)

Evaluate final y-coordinate of the curve.

Usage

y1 = ref.y_end();

yBegin()

function CurveBase::yBegin

(

in

self

)

Deprecated

whill be removed in future version

yEnd()

function CurveBase::yEnd

(

in

self

)

Deprecated

whill be removed in future version

yesAABBtree()

function CurveBase::yesAABBtree

(

in

self

)

Activate the use of AABB three in intersection/collision computations

---

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

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