LineSegment Class Reference

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

Public Member Functions

function LineSegment (in varargin)
 MATLAB class wrapper for the underlying C++ class.
 
function build (in self, in varargin)
 
function to_nurbs (in self)
 Return a nurbs representation of the circle segment.
 
function points (in self)
 Return initial and final point of the segment.
 
function export (in self)
 
function plot (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

◆ LineSegment()

function LineSegment::LineSegment ( in varargin)

MATLAB class wrapper for the underlying C++ class.

Create a new C++ class instance for the Segment object

Usage:

ref = LineSegment(); % (1)
ref = LineSegment( x0, y0, theta0, L ); % (2)
ref = LineSegment( x0, y0, theta0, smin, smax ); % (3)
ref = LineSegment( p0, p1 ); % (4)
  • (1) empty segment
  • (2) line segment passing from (x0,y0) at angle theta0
  • (3) line segment as in (2) with intial and final curvilinear coordinate respect to (x0,y0)
  • (4) segment passing from 2 points

On input:

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

On output:

  • ref: reference handle to the object instance

Member Function Documentation

◆ build()

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

Buil aline segment suing two points or an origin and a direction

Usage:

ref.build( x0, y0, theta0, L );
ref.build( p0, p1 );

Build 1:

  • x0, y0 : initial point
  • theta0 : direction of the segment (angle direction)
  • L : length of the segment

Build 2:

  • p0 : initial point of the segment
  • p1 : final point of the segment

◆ export()

function LineSegment::export ( in self)

Export circle parameters

Usage:

S = ref.export();
  • S.x0, S.y0: initial point of the line segment
  • S.x1, S.y1: final point of the line segment
  • S.theta: initial/final angle of the line segment
  • S.L: length of the line segment

◆ plot()

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

Plot the segment

Usage:

ref.plot();
ref.plot( 'Color','blue','Linewidth',2);
The documentation for this class was generated from the following file:
  • /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/toolbox/lib/LineSegment.m
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