# Class ClothoidSplineG2

- Defined in File ClothoidList.hxx

## Class Documentation

class G2lib::ClothoidSplineG2

  Class for the computation of G2 spljne of clothoids

  Public Types

  enum TargetType

    Values:

    enumerator P1
    enumerator P2
    enumerator P3
    enumerator P4
    enumerator P5
    enumerator P6
    enumerator P7
    enumerator P8
    enumerator P9

  Public Functions

  inline ClothoidSplineG2()
  inline ~ClothoidSplineG2()
  inline void setP1(real_type theta0, real_type thetaN)
  inline void setP2()
  inline void setP3()
  inline void setP4()
  inline void setP5()
  inline void setP6()
  inline void setP7()
  inline void setP8()
  inline void setP9()
  void build(real_type const *xvec, real_type const *yvec, int_type npts)
  inline int_type numPnts() const
  int_type numTheta() const
  int_type numConstraints() const
  void guess(real_type *theta_guess, real_type *theta_min, real_type *theta_max) const
  bool objective(real_type const *theta, real_type &f) const
  bool gradient(real_type const *theta, real_type *g) const
  bool constraints(real_type const *theta, real_type *c) const
  int_type jacobian_nnz() const
  bool jacobian_pattern(int_type *i, int_type *j) const
  bool jacobian_pattern_matlab(real_type *i, real_type *j) const
  bool jacobian(real_type const *theta, real_type *vals) const
  inline void info(ostream_type &stream) const

  Friends

  friend ostream_type &operator<<(ostream_type &stream, ClothoidSplineG2 const &c)