#include <Spline.hpp>

Inheritance diagram for base::geometry::SplineBase:

Public Types
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
	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

Protected Member Functions
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...

Detailed Description

Representation and manipulation of a N-order, 3D NURBS curve

The availability of this class is dependent on the availability of the SISL library

http://www.sintef.no/Informasjons–og-kommunikasjonsteknologi-IKT/Anvendt-matematikk/Fagomrader/Geometri/Prosjekter/The-SISL-Nurbs-Library/SISL-Homepage/

Member Enumeration Documentation

◆ CoordinateType

enum base::geometry::SplineBase::CoordinateType

types to be used in the interpolate() method

Enumerator
ORDINARY_POINT
KNUCKLE_POINT
DERIVATIVE_TO_NEXT
DERIVATIVE_TO_PRIOR
SECOND_DERIVATIVE_TO_NEXT
SECOND_DERIVATIVE_TO_PRIOR
TANGENT_POINT_FOR_NEXT
TANGENT_POINT_FOR_PRIOR

Constructor & Destructor Documentation

◆ SplineBase() [1/3]

base::geometry::SplineBase::SplineBase ( SplineBase const & source )

◆ ~SplineBase()

base::geometry::SplineBase::~SplineBase ( )

◆ SplineBase() [2/3]

base::geometry::SplineBase::SplineBase	(	int	dimension,
		double	geometric_resolution = `0.1`,
		int	order = `3`
	)

explicit

◆ SplineBase() [3/3]

base::geometry::SplineBase::SplineBase	(	double	geometric_resolution,
		SISLCurve *	curve
	)

explicit

Member Function Documentation

◆ append() [1/2]

void base::geometry::SplineBase::append ( SplineBase const & other )

◆ append() [2/2]

void base::geometry::SplineBase::append	(	SplineBase const &	other,
		double	tolerance
	)

Appends other at the end of this.

other is translated so that other's start point is equal to this's end point. The resulting curve is then appended to this

See also: join

◆ checkAndNormalizeParam()

bool base::geometry::SplineBase::checkAndNormalizeParam	(	double &	param,
		double	equalDistance = `0.001`
	)		const

protected

This function checks weather param is smaler or bigger than end and start param. It also sets param to start or end, if the difference between param and start/end is smaler than equalDistance.

returns true if param is inside start/end.

◆ clear()

void base::geometry::SplineBase::clear ( )

Reinitializes the curve

◆ crop()

void base::geometry::SplineBase::crop	(	double	start_t,
		double	end_t
	)

Crops this curve at the specified boundaries

After this operation, +this+ will represent the part of the curve that was in between the two given parameters

◆ derive()

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

Returns the i-th derivative of this curve

◆ distanceError()

double base::geometry::SplineBase::distanceError	(	base::Vector3d	_pt,
		double	_param
	)

protected

available only in Spline<3>

◆ findClosestPoints()

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

protected

◆ findLineIntersections()

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

protected

◆ findOneClosestPoint()

double base::geometry::SplineBase::findOneClosestPoint	(	double const *	_pt,
		double	_guess,
		double	_geores
	)		const

protected

Warning, do not use this method, it is broken and returns the wrong result

◆ findOneLineIntersection()

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

protected

◆ findPointIntersections()

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

protected

◆ findSphereIntersections()

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

protected

◆ getCoordinates()

std::vector< double > base::geometry::SplineBase::getCoordinates ( ) const

◆ getCoordinatesStride()

int base::geometry::SplineBase::getCoordinatesStride ( ) const

inline

◆ getCurvature()

double base::geometry::SplineBase::getCurvature ( double _param ) const

Returns the curvature at the given position

Exceptions

out_of_range if _param is not in [start_param, end_param] and runtime_error if SISL returns an error

◆ getCurvatureMax()

double base::geometry::SplineBase::getCurvatureMax ( )

Returns the maximum curvature of the curve

◆ getCurveLength() [1/3]

double base::geometry::SplineBase::getCurveLength ( double relative_resolution = 0.01 ) const

Returns the length of the curve in geometric space

Parameters

relative_error the acceptable error on the final result w.r.t. the real curve length

◆ getCurveLength() [2/3]

double base::geometry::SplineBase::getCurveLength	(	double	startParam,
		double	relative_resolution
	)		const

◆ getCurveLength() [3/3]

double base::geometry::SplineBase::getCurveLength	(	double	startParam,
		double	endParam,
		double	relative_resolution
	)		const

◆ getCurveOrder()

int base::geometry::SplineBase::getCurveOrder ( ) const

inline

Returns the order of the curve

◆ getDimension()

int base::geometry::SplineBase::getDimension ( ) const

inline

Returns the dimension of the space in which the curve lies

◆ getEndParam()

double base::geometry::SplineBase::getEndParam ( ) const

inline

◆ getFrenetFrame()

Matrix3d base::geometry::SplineBase::getFrenetFrame ( double _param )

protected

available only in Spline<3>

◆ getGeometricResolution()

double base::geometry::SplineBase::getGeometricResolution ( ) const

inline

◆ getHeading()

double base::geometry::SplineBase::getHeading ( double _param )

protected

available only in Spline<3>

◆ getKnots()

std::vector< double > base::geometry::SplineBase::getKnots ( ) const

◆ getPoint()

void base::geometry::SplineBase::getPoint	(	double *	result,
		double	_param
	)		const

protected

◆ getPointAndTangent()

void base::geometry::SplineBase::getPointAndTangent	(	double *	result,
		double	_param
	)		const

protected

◆ getPointAndTangentHelper()

void base::geometry::SplineBase::getPointAndTangentHelper	(	double *	result,
		double	_param,
		bool	with_tangent
	)		const

protected

◆ getPointCount()

int base::geometry::SplineBase::getPointCount ( ) const

Returns the number of points for this curve

◆ getResultClosestToGuess()

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

protected

Helper function for findOneClosestPoint and findOneLineIntersection. It returns the parameter in points and/or curves that is the closest to the given guess

The caller is in charge of making sure that at least one of points or curves is not empty

◆ getSISLCurve() [1/2]

SISLCurve const * base::geometry::SplineBase::getSISLCurve ( ) const

Return a pointer to the underlying SISL structure

This pointer will be non-NULL only after interpolate() has been called at least once.

◆ getSISLCurve() [2/2]

SISLCurve * base::geometry::SplineBase::getSISLCurve ( )

Return a pointer to the underlying SISL structure

This pointer will be non-NULL only after interpolate() has been called at least once.

◆ getSISLCurveType()

int base::geometry::SplineBase::getSISLCurveType ( ) const

◆ getStartParam()

double base::geometry::SplineBase::getStartParam ( ) const

inline

◆ getSubSpline()

SplineBase * base::geometry::SplineBase::getSubSpline	(	double	start_t,
		double	end_t
	)		const

Returns a new curve, that represents the spline between start_t and end_t

◆ getVariationOfCurvature()

double base::geometry::SplineBase::getVariationOfCurvature ( double _param )

Returns the first order derivative of the curvature at the given position

Exceptions

out_of_range if _param is not in [start_param, end_param] and runtime_error if SISL returns an error

◆ headingError()

double base::geometry::SplineBase::headingError	(	double	_actHeading,
		double	_param
	)

protected

available only in Spline<3>

◆ interpolate() [1/2]

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

Generates the curve

If the parameters array is given, it is the desired parameter for the provided points. Otherwise, an automatic parametrization is generated.

Parameters

coordinates	- list of points/derivatives
parameters	- list of parameters. Needs to be the same size as the number of actual points in the coordinates list, or zero.
coord_types	- needs to be of the same size as coordinates, or zero. It marks the type of coordinate/derivative given by the coordinates param.

◆ interpolate() [2/2]

void base::geometry::SplineBase::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 >()`
	)

◆ isEmpty()

bool base::geometry::SplineBase::isEmpty ( ) const

inline

Returns true if the curve is not yet initialized

◆ isNURBS()

bool base::geometry::SplineBase::isNURBS ( ) const

◆ isSingleton()

bool base::geometry::SplineBase::isSingleton ( ) const

inline

Returns true if the curve is a point

◆ join()

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

Joins this and other

Unlike append, if the distance between this's end point and other's start point is greater than tolerance, the method computes an intermediate curve that smoothly joins this and other.

It retusn the parameter offset by which the parameters in other have been translated. I.e. if

offset = curve.join(other, tol, true);

Then other.get(t) == curve.get(t + offset)

◆ localClosestPointSearch()

double base::geometry::SplineBase::localClosestPointSearch	(	double const *	ref_point,
		double	_guess,
		double	_start,
		double	_end,
		double	_geores
	)		const

protected

◆ operator=()

SplineBase const & base::geometry::SplineBase::operator= ( SplineBase const & base )

◆ poseError() [1/2]

Vector3d base::geometry::SplineBase::poseError	(	base::Vector3d	_pt,
		double	_actZRot,
		double	_st_para
	)

protected

available only in Spline<3>

◆ poseError() [2/2]

Vector3d base::geometry::SplineBase::poseError	(	base::Vector3d	_pt,
		double	_actZRot,
		double	_st_para,
		double	minParam
	)

protected

available only in Spline<3>

◆ printCurveProperties()

void base::geometry::SplineBase::printCurveProperties ( std::ostream & io )

Display the curve properties on the given IO object

◆ reset() [1/2]

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

Replaces the current internal SISLCurve by a new one that contains the given information

The semantic of the three parameters is internal to SISL

◆ reset() [2/2]

void base::geometry::SplineBase::reset ( SISLCurve * curve )

protected

Replaces the current internal SISLCurve by the provided one. The SplineBase object takes ownership of the given curve.

Is is used in mutating methods that need to create a new curve: i.e. create a new curve, do SISL operation, replace current curve by new curve by calling reset(new_curve)

◆ reverse()

void base::geometry::SplineBase::reverse ( )

Reverses the direction of the curve

◆ setCurveOrder()

void base::geometry::SplineBase::setCurveOrder ( int value )

inline

Change the curve order. This is only propagated after interpolate() is called

◆ setGeometricResolution()

void base::geometry::SplineBase::setGeometricResolution ( double _geores )

inline

Changes the default geometric resolution

◆ setSingleton()

void base::geometry::SplineBase::setSingleton ( double const * coordinates )

◆ simplify() [1/2]

vector< double > base::geometry::SplineBase::simplify ( )

◆ simplify() [2/2]

vector< double > base::geometry::SplineBase::simplify ( double tolerance )

◆ split()

void base::geometry::SplineBase::split	(	SplineBase &	second_part,
		double	parameter
	)

Splits this curve in two parts, at the specified parameter

this is the first part of the new pair. second_part is filled with the second part

◆ testIntersection()

bool base::geometry::SplineBase::testIntersection	(	SplineBase const &	other,
		double	resolution = `0.01`
	)		const

Tests for intersection between two curves

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

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

Public Types

Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

◆ CoordinateType

Constructor & Destructor Documentation

◆ SplineBase() [1/3]

◆ ~SplineBase()

◆ SplineBase() [2/3]

◆ SplineBase() [3/3]

Member Function Documentation

◆ append() [1/2]

◆ append() [2/2]

◆ checkAndNormalizeParam()

◆ clear()

◆ crop()

◆ derive()

◆ distanceError()

◆ findClosestPoints()

◆ findLineIntersections()

◆ findOneClosestPoint()

◆ findOneLineIntersection()

◆ findPointIntersections()

◆ findSphereIntersections()

◆ getCoordinates()

◆ getCoordinatesStride()

◆ getCurvature()

◆ getCurvatureMax()

◆ getCurveLength() [1/3]

◆ getCurveLength() [2/3]

◆ getCurveLength() [3/3]

◆ getCurveOrder()

◆ getDimension()

◆ getEndParam()

◆ getFrenetFrame()

◆ getGeometricResolution()

◆ getHeading()

◆ getKnots()

◆ getPoint()

◆ getPointAndTangent()

◆ getPointAndTangentHelper()

◆ getPointCount()

◆ getResultClosestToGuess()

◆ getSISLCurve() [1/2]

◆ getSISLCurve() [2/2]

◆ getSISLCurveType()

◆ getStartParam()

◆ getSubSpline()

◆ getVariationOfCurvature()

◆ headingError()

◆ interpolate() [1/2]

◆ interpolate() [2/2]

◆ isEmpty()

◆ isNURBS()

◆ isSingleton()

◆ join()

◆ localClosestPointSearch()

◆ operator=()

◆ poseError() [1/2]

◆ poseError() [2/2]

◆ printCurveProperties()

◆ reset() [1/2]

◆ reset() [2/2]

◆ reverse()

◆ setCurveOrder()

◆ setGeometricResolution()

◆ setSingleton()

◆ simplify() [1/2]

◆ simplify() [2/2]

◆ split()

◆ testIntersection()