Dubins3p Class Reference

Clothoids: Dubins3p Class Reference
Clothoids
Public Member Functions | List of all members
Dubins3p Class Reference
Inheritance diagram for Dubins3p:
CurveBase

Public Member Functions

function Dubins3p (in varargin)
 MATLAB class wrapper for the underlying C++ class.
 
function build (in self, in x0, in y0, in theta0, in xm, in ym, in x1, in y1, in theta1, in k_max, in method)
 
function get_pars (in self)
 
function get_circles (in self)
 
function curve_type (in self)
 
function curve_type_string (in self)
 
function num_evaluation (in self)
 
function set_tolerance (in self, in tol)
 
function set_max_evaluation (in self, in max_eval)
 
function set_sample_angle (in self, in ang)
 
function set_sample_points (in self, in npts)
 
function get_range_angles (in self, in xi, in yi, in thetai, in xm, in ym, in xf, in yf, in thetaf, in k_max)
 
function get_sample_angles (in self, in xi, in yi, in thetai, in xm, in ym, in xf, in yf, in thetaf, in k_max, in tol)
 
function plot (in self, in npts, 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

◆ Dubins3p()

function Dubins3p::Dubins3p ( in varargin)

MATLAB class wrapper for the underlying C++ class.

Make a deep copy of a curve object

Usage

B = A.copy();

where A is the curve object to be copied. Create a new C++ class instance for the Biarc object

Usage:

self = Biarc();
self = Biarc( x0, y0, theta0, x1, y1, theta1 );

Optional Arguments:

  • 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

On output:

  • self: reference handle to the object instance

Member Function Documentation

◆ build()

function Dubins3p::build ( in self,
in x0,
in y0,
in theta0,
in xm,
in ym,
in x1,
in y1,
in theta1,
in k_max,
in method )

Build the interpolating G1 biarc

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
  • x3, y3: coordinate of final point
  • theta3 : orientation of the clothoid at final point

◆ plot()

function Dubins3p::plot ( in self,
in npts,
in varargin )

Plot the Dubins

Usage:

ref.plot( npts );
fmt1 = {'Color','blue','Linewidth',2};
fmt2 = {'Color','red','Linewidth',2};
ref.plot( npts, fmt1, fmt2 );
  • npts: number of sampling points for plotting
  • fmt1: format of the first arc
  • fmt2: format of the second arc
The documentation for this class was generated from the following file:
  • /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/toolbox/lib/Dubins3p.m
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