#include <Spline.hpp>

Inheritance diagram for base::geometry::Spline< DIM >:

Public Types
typedef SplineBaseClass< DIM >::type	base_t

typedef Eigen::Matrix< double, DIM, 1, Eigen::DontAlign >	vector_t

typedef Eigen::Matrix< double, DIM, 1, Eigen::AutoAlign >	vector_ta

typedef Eigen::Transform< double, DIM, Eigen::Affine >	transform_t

Public Types inherited from base::geometry::SplineBase
enum	CoordinateType { ORDINARY_POINT = 1, KNUCKLE_POINT = 2, DERIVATIVE_TO_NEXT = 3, DERIVATIVE_TO_PRIOR = 4, SECOND_DERIVATIVE_TO_NEXT = 5, SECOND_DERIVATIVE_TO_PRIOR = 6, TANGENT_POINT_FOR_NEXT = 13, TANGENT_POINT_FOR_PRIOR = 14 }

Public Member Functions
	Spline (double geometric_resolution=0.1, int order=3)

	Spline (double geometric_resolution, SISLCurve *curve)

	Spline (SplineBase const &base)

vector_t	getStartPoint () const

vector_t	getEndPoint () const

void	setSingleton (vector_t const &v)

vector_t	getPoint (double _param) const

std::vector< vector_t >	getPoints (std::vector< double > const &parameters) const

Spline	derive (int order) const

bool	doAdvance (double &result, double &cur_length, double target, double start, vector_t const &start_p, double end, vector_t const &end_p, double _geores) const

std::pair< double, double >	advance (double t, double length, double _geores) const

double	length (double start, double end, double _geores) const

std::pair< vector_t, vector_t >	getPointAndTangent (double _param) const

std::vector< vector_t >	sample (double _geores, std::vector< double > *parameters=0, int max_recursion=20) const

void	sample (std::vector< vector_t > &result, double _geores, std::vector< double > *parameters=0, int max_recursion=20) const

void	sample (std::vector< vector_t > &result, double start, vector_t const &start_p, double end, vector_t const &end_p, double _geores, std::vector< double > *parameters, int max_recursion=20) const

void	interpolate (std::vector< vector_t > const &points, std::vector< double > const &parameters=std::vector< double >(), std::vector< SplineBase::CoordinateType > const &coord_types=std::vector< SplineBase::CoordinateType >())

void	interpolate (std::vector< vector_t > const &points, std::vector< double > &parametersOut, std::vector< double > const &parametersIn=std::vector< double >(), std::vector< SplineBase::CoordinateType > const &coord_types=std::vector< SplineBase::CoordinateType >())

void	interpolate (std::vector< vector_ta > const &points, std::vector< double > &parametersOut, std::vector< double > const &parametersIn=std::vector< double >(), std::vector< SplineBase::CoordinateType > const &coord_types=std::vector< SplineBase::CoordinateType >())

void	interpolate (std::vector< vector_ta > const &points, std::vector< double > const &parameters=std::vector< double >(), std::vector< SplineBase::CoordinateType > const &coord_types=std::vector< SplineBase::CoordinateType >())

void	interpolate (std::vector< double > const &coordinates, std::vector< double > const &parameters=std::vector< double >(), std::vector< SplineBase::CoordinateType > const &coord_types=std::vector< SplineBase::CoordinateType >())

void	interpolate (std::vector< double > const &coordinates, std::vector< double > &parameterOut, std::vector< double > const &parameterIn=std::vector< double >(), std::vector< SplineBase::CoordinateType > const &coord_types=std::vector< SplineBase::CoordinateType >())

double	distanceTo (vector_t const &_pt) const

template<typename Test >
std::pair< double, double >	dichotomic_search (double start_t, double end_t, Test test, double resolution, double parameter_threshold) const

template<typename Test >
std::pair< double, double >	dichotomic_search (double start_t, vector_t const &start_p, double end_t, vector_t const &end_p, Test test, double resolution, double parameter_threshold) const

void	findSphereIntersections (vector_t const &_center, double _radius, std::vector< double > &points, std::vector< std::pair< double, double > > &segments) const

void	findSphereIntersections (vector_t const &_center, double _radius, std::vector< double > &points, std::vector< std::pair< double, double > > &segments, double _geores) const

void	findPointIntersections (vector_t const &_point, std::vector< double > &_result_points, std::vector< std::pair< double, double > > &_result_curves, double _geores) const

std::pair< double, bool >	findOneLineIntersection (vector_t const &_pt, vector_t const &_normal) const

std::pair< double, bool >	findOneLineIntersection (vector_t const &_pt, vector_t const &_normal, double geometric_resolution) const

std::pair< double, bool >	findOneLineIntersection (vector_t const &_pt, vector_t const &_normal, double _guess, double _geometric_resolution) const

std::pair< double, bool >	findOneLineIntersection (vector_t const &_pt, vector_t const &_normal, vector_t const &_guess, double _geometric_resolution) const

void	findLineIntersections (vector_t const &_point, vector_t const &_normal, std::vector< double > &_result_points, std::vector< std::pair< double, double > > &_result_curves, double _geores) const

void	findSegmentIntersections (vector_t const &_p0, vector_t const &_p1, std::vector< double > &_result_points, std::vector< std::pair< double, double > > &_result_curves, double _geores) const

bool	isIntersectingSegment (vector_t const &_p0, vector_t const &_p1, double _geores)

double	findOneClosestPoint (vector_t const &_pt) const

bool	isCloser (const vector_t &p, const double &squaredDist, const double param, vector_t &pOfParam, double &squaredDistOfParam) const

double	findOneClosestPoint (vector_t const &_pt, double _geometric_resolution) const

double	findOneClosestPoint (vector_t const &_pt, double _guess, double _geometric_resolution) const

void	findClosestPoints (vector_t const &_pt, std::vector< double > &_points, std::vector< std::pair< double, double > > &_curves) const

void	findClosestPoints (vector_t const &_pt, std::vector< double > &_points, std::vector< std::pair< double, double > > &_curves, double _geores) const

double	localClosestPointSearch (vector_t const &_pt, double _guess, double _start, double _end)

double	localClosestPointSearch (vector_t const &_pt, double _guess, double _start, double _end, double _geores)

template<typename Transform >
void	transform (Transform const &t)

Public Member Functions inherited from base::geometry::SplineBase
	SplineBase (SplineBase const &source)

	~SplineBase ()

	SplineBase (int dimension, double geometric_resolution=0.1, int order=3)

	SplineBase (double geometric_resolution, SISLCurve *curve)

void	setGeometricResolution (double _geores)

double	getGeometricResolution () const

bool	isEmpty () const

bool	isSingleton () const

int	getDimension () const

int	getPointCount () const

void	setCurveOrder (int value)

int	getCurveOrder () const

double	getCurveLength (double relative_resolution=0.01) const

double	getCurveLength (double startParam, double relative_resolution) const

double	getCurveLength (double startParam, double endParam, double relative_resolution) const

double	getCurvatureMax ()

double	getStartParam () const

double	getEndParam () const

SISLCurve const *	getSISLCurve () const

SISLCurve *	getSISLCurve ()

double	getCurvature (double _param) const

double	getVariationOfCurvature (double _param)

std::vector< double >	getCoordinates () const

std::vector< double >	getKnots () const

int	getSISLCurveType () const

void	printCurveProperties (std::ostream &io)

void	interpolate (std::vector< double > const &coordinates, std::vector< double > const &parameters=std::vector< double >(), std::vector< CoordinateType > const &coord_types=std::vector< CoordinateType >())

void	interpolate (std::vector< double > const &coordinates, std::vector< double > &parameterOut, std::vector< double > const &parameterIn=std::vector< double >(), std::vector< CoordinateType > const &coord_types=std::vector< CoordinateType >())

bool	testIntersection (SplineBase const &other, double resolution=0.01) const

void	clear ()

std::vector< double >	simplify ()

std::vector< double >	simplify (double tolerance)

SplineBase const &	operator= (SplineBase const &base)

bool	isNURBS () const

void	reset (std::vector< double > const &coordinates, std::vector< double > const &knots, int kind=-1)

void	reverse ()

void	append (SplineBase const &other)

void	append (SplineBase const &other, double tolerance)

double	join (SplineBase const &other, double tolerance, bool with_tangents)

void	split (SplineBase &second_part, double parameter)

void	crop (double start_t, double end_t)

SplineBase *	getSubSpline (double start_t, double end_t) const

int	getCoordinatesStride () const

void	setSingleton (double const *coordinates)

void	derive (unsigned int order, SplineBase &result) const

Additional Inherited Members
Protected Member Functions inherited from base::geometry::SplineBase
bool	checkAndNormalizeParam (double &param, double equalDistance=0.001) const

void	reset (SISLCurve *curve)

void	getPoint (double *result, double _param) const

void	getPointAndTangent (double *result, double _param) const

void	findPointIntersections (double const *_point, std::vector< double > &_result_points, std::vector< std::pair< double, double > > &_result_curves, double _geores) const

std::pair< double, bool >	findOneLineIntersection (double const _point, double const _normal, double _guess, double _geores) const

void	findLineIntersections (double const _point, double const _normal, std::vector< double > &_result_points, std::vector< std::pair< double, double > > &_result_curves, double _geores) const

void	findSphereIntersections (double const *_center, double radius, std::vector< double > &points, std::vector< std::pair< double, double > > &segments, double _geores) const

double	findOneClosestPoint (double const *_pt, double _guess, double _geores) const

void	findClosestPoints (double const *ref_point, std::vector< double > &_result_points, std::vector< std::pair< double, double > > &_result_curves, double _geores) const

double	localClosestPointSearch (double const *ref_point, double _guess, double _start, double _end, double _geores) const

void	getPointAndTangentHelper (double *result, double _param, bool with_tangent) const

double	getResultClosestToGuess (double _guess, std::vector< double > points, std::vector< std::pair< double, double > > curves) const

base::Matrix3d	getFrenetFrame (double _param)
	available only in Spline<3> More...

double	getHeading (double _param)
	available only in Spline<3> More...

double	headingError (double _actHeading, double _param)
	available only in Spline<3> More...

double	distanceError (base::Vector3d _pt, double _param)
	available only in Spline<3> More...

base::Vector3d	poseError (base::Vector3d _pt, double _actZRot, double _st_para)
	available only in Spline<3> More...

base::Vector3d	poseError (base::Vector3d _pt, double _actZRot, double _st_para, double minParam)
	available only in Spline<3> More...

Member Typedef Documentation

◆ base_t

template<int DIM>

typedef SplineBaseClass<DIM>::type base::geometry::Spline< DIM >::base_t

◆ transform_t

template<int DIM>

typedef Eigen::Transform<double, DIM, Eigen::Affine> base::geometry::Spline< DIM >::transform_t

◆ vector_t

template<int DIM>

typedef Eigen::Matrix<double, DIM, 1, Eigen::DontAlign> base::geometry::Spline< DIM >::vector_t

◆ vector_ta

template<int DIM>

typedef Eigen::Matrix<double, DIM, 1, Eigen::AutoAlign> base::geometry::Spline< DIM >::vector_ta

Constructor & Destructor Documentation

◆ Spline() [1/3]

template<int DIM>

base::geometry::Spline< DIM >::Spline	(	double	geometric_resolution = `0.1`,
		int	order = `3`
	)

inlineexplicit

◆ Spline() [2/3]

template<int DIM>

base::geometry::Spline< DIM >::Spline	(	double	geometric_resolution,
		SISLCurve *	curve
	)

inlineexplicit

◆ Spline() [3/3]

template<int DIM>

base::geometry::Spline< DIM >::Spline ( SplineBase const & base )

inline

Member Function Documentation

◆ advance()

template<int DIM>

std::pair<double, double> base::geometry::Spline< DIM >::advance	(	double	t,
		double	length,
		double	_geores
	)		const

inline

Find a parameter separated from another by a given curve length

Specifically, this method finds the parameter t1 so that the curve length between t and t1 is in [length, length + _geores]

If the end of the curve is reached first, then the parameter of the end of the curve is returned.

◆ derive()

template<int DIM>

Spline base::geometry::Spline< DIM >::derive ( int order ) const

inline

◆ dichotomic_search() [1/2]

template<int DIM>

template<typename Test >

std::pair<double, double> base::geometry::Spline< DIM >::dichotomic_search	(	double	start_t,
		double	end_t,
		Test	test,
		double	resolution,
		double	parameter_threshold
	)		const

inline

◆ dichotomic_search() [2/2]

template<int DIM>

template<typename Test >

std::pair<double, double> base::geometry::Spline< DIM >::dichotomic_search	(	double	start_t,
		vector_t const &	start_p,
		double	end_t,
		vector_t const &	end_p,
		Test	test,
		double	resolution,
		double	parameter_threshold
	)		const

inline

Does a dichotomic search to find the first point in [start_t, end_t] for which func returns true

end_t might be lower than start_t, in which case the point returned will be the last point in the curve

◆ distanceTo()

template<int DIM>

double base::geometry::Spline< DIM >::distanceTo ( vector_t const & _pt ) const

inline

Returns the distance between the given point and the curve

◆ doAdvance()

template<int DIM>

bool base::geometry::Spline< DIM >::doAdvance	(	double &	result,
		double &	cur_length,
		double	target,
		double	start,
		vector_t const &	start_p,
		double	end,
		vector_t const &	end_p,
		double	_geores
	)		const

inline

Private helper method for advance and length

Iteratively computes a discretization of the curve from +start+ to +end+, with two points in the discretization not being further apart than _geores.

It accumulates the distance while doing so. If, at some point in the search, the accumulated distance cur_length gets bigger than target, then the parameter at that point gets stored in result and the method returns true.

If it never happens, the method returns false. In this case, result is set to end and cur_length is the approximate length of the whole segment.

◆ findClosestPoints() [1/2]

template<int DIM>

void base::geometry::Spline< DIM >::findClosestPoints	(	vector_t const &	_pt,
		std::vector< double > &	_points,
		std::vector< std::pair< double, double > > &	_curves
	)		const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ findClosestPoints() [2/2]

template<int DIM>

void base::geometry::Spline< DIM >::findClosestPoints	(	vector_t const &	_pt,
		std::vector< double > &	_points,
		std::vector< std::pair< double, double > > &	_curves,
		double	_geores
	)		const

inline

Returns the single points and curve segments that are closest to the given point.

◆ findLineIntersections()

template<int DIM>

void base::geometry::Spline< DIM >::findLineIntersections	(	vector_t const &	_point,
		vector_t const &	_normal,
		std::vector< double > &	_result_points,
		std::vector< std::pair< double, double > > &	_result_curves,
		double	_geores
	)		const

inline

◆ findOneClosestPoint() [1/3]

template<int DIM>

double base::geometry::Spline< DIM >::findOneClosestPoint ( vector_t const & _pt ) const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ findOneClosestPoint() [2/3]

template<int DIM>

double base::geometry::Spline< DIM >::findOneClosestPoint	(	vector_t const &	_pt,
		double	_geometric_resolution
	)		const

inline

This method return the closest point in the curve to the given point _pt.

◆ findOneClosestPoint() [3/3]

template<int DIM>

double base::geometry::Spline< DIM >::findOneClosestPoint	(	vector_t const &	_pt,
		double	_guess,
		double	_geometric_resolution
	)		const

inline

Returns a single closest point to _pt

This is a convenience method that calls findClosestPoints and returns one single parameter in the values returned.

Returns: the parameter of the found closes point

Parameters

_guess this paramter is ignored. It is only there for backward compability

Exceptions

std::logic_error if no points have been found (should not happen)

See also: localClosestPointSearch findClosestPoints

◆ findOneLineIntersection() [1/4]

template<int DIM>

std::pair<double, bool> base::geometry::Spline< DIM >::findOneLineIntersection	(	vector_t const &	_pt,
		vector_t const &	_normal
	)		const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ findOneLineIntersection() [2/4]

template<int DIM>

std::pair<double, bool> base::geometry::Spline< DIM >::findOneLineIntersection	(	vector_t const &	_pt,
		vector_t const &	_normal,
		double	geometric_resolution
	)		const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Calls findOneClosestPoint using the start parameter as the guess parameter. I.e. it will always return the point closest to the start of the curve.

◆ findOneLineIntersection() [3/4]

template<int DIM>

std::pair<double, bool> base::geometry::Spline< DIM >::findOneLineIntersection	(	vector_t const &	_pt,
		vector_t const &	_normal,
		double	_guess,
		double	_geometric_resolution
	)		const

inline

Returns a single intersection point between this curve and the line or plan defined by _pt and _normal

This is a convenience method that calls findLineIntersections and returns one single parameter in the values returned. The returned parameter is the closes point closest to _guess.

Returns: a (t, true) pair, with t being the parameter of the found intersection, if there is one. If there is none, the (0, false) pair is returned

◆ findOneLineIntersection() [4/4]

template<int DIM>

std::pair<double, bool> base::geometry::Spline< DIM >::findOneLineIntersection	(	vector_t const &	_pt,
		vector_t const &	_normal,
		vector_t const &	_guess,
		double	_geometric_resolution
	)		const

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ findPointIntersections()

template<int DIM>

void base::geometry::Spline< DIM >::findPointIntersections	(	vector_t const &	_point,
		std::vector< double > &	_result_points,
		std::vector< std::pair< double, double > > &	_result_curves,
		double	_geores
	)		const

inline

◆ findSegmentIntersections()

template<int DIM>

void base::geometry::Spline< DIM >::findSegmentIntersections	(	vector_t const &	_p0,
		vector_t const &	_p1,
		std::vector< double > &	_result_points,
		std::vector< std::pair< double, double > > &	_result_curves,
		double	_geores
	)		const

inline

◆ findSphereIntersections() [1/2]

template<int DIM>

void base::geometry::Spline< DIM >::findSphereIntersections	(	vector_t const &	_center,
		double	_radius,
		std::vector< double > &	points,
		std::vector< std::pair< double, double > > &	segments
	)		const

inline

◆ findSphereIntersections() [2/2]

template<int DIM>

void base::geometry::Spline< DIM >::findSphereIntersections	(	vector_t const &	_center,
		double	_radius,
		std::vector< double > &	points,
		std::vector< std::pair< double, double > > &	segments,
		double	_geores
	)		const

inline

◆ getEndPoint()

template<int DIM>

vector_t base::geometry::Spline< DIM >::getEndPoint ( ) const

inline

Returns the geometric end point of the curve

◆ getPoint()

template<int DIM>

vector_t base::geometry::Spline< DIM >::getPoint ( double _param ) const

inline

Returns the geometric point that lies on the curve at the given parameter

◆ getPointAndTangent()

template<int DIM>

std::pair<vector_t, vector_t> base::geometry::Spline< DIM >::getPointAndTangent ( double _param ) const

inline

Returns the geometric point that lies on the curve at the given parameter

◆ getPoints()

template<int DIM>

std::vector<vector_t> base::geometry::Spline< DIM >::getPoints ( std::vector< double > const & parameters ) const

inline

◆ getStartPoint()

template<int DIM>

vector_t base::geometry::Spline< DIM >::getStartPoint ( ) const

inline

Returns the geometric start point of the curve

◆ interpolate() [1/6]

template<int DIM>

void base::geometry::Spline< DIM >::interpolate	(	std::vector< vector_t > const &	points,
		std::vector< double > const &	parameters = `std::vector<double>()`,
		std::vector< SplineBase::CoordinateType > const &	coord_types = `std::vector<SplineBase::CoordinateType>()`
	)

inline

Compute the curve from the given set of points

◆ interpolate() [2/6]

template<int DIM>

void base::geometry::Spline< DIM >::interpolate	(	std::vector< vector_t > const &	points,
		std::vector< double > &	parametersOut,
		std::vector< double > const &	parametersIn = `std::vector<double>()`,
		std::vector< SplineBase::CoordinateType > const &	coord_types = `std::vector<SplineBase::CoordinateType>()`
	)

inline

◆ interpolate() [3/6]

template<int DIM>

void base::geometry::Spline< DIM >::interpolate	(	std::vector< vector_ta > const &	points,
		std::vector< double > &	parametersOut,
		std::vector< double > const &	parametersIn = `std::vector<double>()`,
		std::vector< SplineBase::CoordinateType > const &	coord_types = `std::vector<SplineBase::CoordinateType>()`
	)

inline

◆ interpolate() [4/6]

template<int DIM>

void base::geometry::Spline< DIM >::interpolate	(	std::vector< vector_ta > const &	points,
		std::vector< double > const &	parameters = `std::vector<double>()`,
		std::vector< SplineBase::CoordinateType > const &	coord_types = `std::vector<SplineBase::CoordinateType>()`
	)

inline

Compute the curve from the given set of points

◆ interpolate() [5/6]

template<int DIM>

void base::geometry::Spline< DIM >::interpolate	(	std::vector< double > const &	coordinates,
		std::vector< double > const &	parameters = `std::vector<double>()`,
		std::vector< SplineBase::CoordinateType > const &	coord_types = `std::vector<SplineBase::CoordinateType>()`
	)

inline

◆ interpolate() [6/6]

template<int DIM>

void base::geometry::Spline< DIM >::interpolate	(	std::vector< double > const &	coordinates,
		std::vector< double > &	parameterOut,
		std::vector< double > const &	parameterIn = `std::vector<double>()`,
		std::vector< SplineBase::CoordinateType > const &	coord_types = `std::vector<SplineBase::CoordinateType>()`
	)

inline

◆ isCloser()

template<int DIM>

bool base::geometry::Spline< DIM >::isCloser	(	const vector_t &	p,
		const double &	squaredDist,
		const double	param,
		vector_t &	pOfParam,
		double &	squaredDistOfParam
	)		const

inline

◆ isIntersectingSegment()

template<int DIM>

bool base::geometry::Spline< DIM >::isIntersectingSegment	(	vector_t const &	_p0,
		vector_t const &	_p1,
		double	_geores
	)

inline

Returns true if this curve intersects the given segment

◆ length()

template<int DIM>

double base::geometry::Spline< DIM >::length	(	double	start,
		double	end,
		double	_geores
	)		const

inline

Computes the length of a curve segment

Specifically, this method finds the length of the curve by discretizing it with a step length of _geores

◆ localClosestPointSearch() [1/2]

template<int DIM>

double base::geometry::Spline< DIM >::localClosestPointSearch	(	vector_t const &	_pt,
		double	_guess,
		double	_start,
		double	_end
	)

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

◆ localClosestPointSearch() [2/2]

template<int DIM>

double base::geometry::Spline< DIM >::localClosestPointSearch	(	vector_t const &	_pt,
		double	_guess,
		double	_start,
		double	_end,
		double	_geores
	)

inline

Performs a Newton search in the provided parametric interval, starting with the given guess. The order between _start and _end can be arbitrary.

This method is subject to local minima problems

◆ sample() [1/3]

template<int DIM>

std::vector<vector_t> base::geometry::Spline< DIM >::sample	(	double	_geores,
		std::vector< double > *	parameters = `0`,
		int	max_recursion = `20`
	)		const

inline

Returns a discretization of this curve so that two consecutive points are separated by a curve length lower than _geores

◆ sample() [2/3]

template<int DIM>

void base::geometry::Spline< DIM >::sample	(	std::vector< vector_t > &	result,
		double	_geores,
		std::vector< double > *	parameters = `0`,
		int	max_recursion = `20`
	)		const

inline

Samples the curve so that the distance between two consecutive points is always below _geores

◆ sample() [3/3]

template<int DIM>

void base::geometry::Spline< DIM >::sample	(	std::vector< vector_t > &	result,
		double	start,
		vector_t const &	start_p,
		double	end,
		vector_t const &	end_p,
		double	_geores,
		std::vector< double > *	parameters,
		int	max_recursion = `20`
	)		const

inline

Helper method for the other sample methods

◆ setSingleton()

template<int DIM>

void base::geometry::Spline< DIM >::setSingleton ( vector_t const & v )

inline

Resets this curve to a singleton

◆ transform()

template<int DIM>

template<typename Transform >

void base::geometry::Spline< DIM >::transform ( Transform const & t )

inline

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

/home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/Spline.hpp

Public Types

Public Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ base_t

◆ transform_t

◆ vector_t

◆ vector_ta

Constructor & Destructor Documentation

◆ Spline() [1/3]

◆ Spline() [2/3]

◆ Spline() [3/3]

Member Function Documentation

◆ advance()

◆ derive()

◆ dichotomic_search() [1/2]

◆ dichotomic_search() [2/2]

◆ distanceTo()

◆ doAdvance()

◆ findClosestPoints() [1/2]

◆ findClosestPoints() [2/2]

◆ findLineIntersections()

◆ findOneClosestPoint() [1/3]

◆ findOneClosestPoint() [2/3]

◆ findOneClosestPoint() [3/3]

◆ findOneLineIntersection() [1/4]

◆ findOneLineIntersection() [2/4]

◆ findOneLineIntersection() [3/4]

◆ findOneLineIntersection() [4/4]

◆ findPointIntersections()

◆ findSegmentIntersections()

◆ findSphereIntersections() [1/2]

◆ findSphereIntersections() [2/2]

◆ getEndPoint()

◆ getPoint()

◆ getPointAndTangent()

◆ getPoints()

◆ getStartPoint()

◆ interpolate() [1/6]

◆ interpolate() [2/6]

◆ interpolate() [3/6]

◆ interpolate() [4/6]

◆ interpolate() [5/6]

◆ interpolate() [6/6]

◆ isCloser()

◆ isIntersectingSegment()

◆ length()

◆ localClosestPointSearch() [1/2]

◆ localClosestPointSearch() [2/2]

◆ sample() [1/3]

◆ sample() [2/3]

◆ sample() [3/3]

◆ setSingleton()

◆ transform()