Program Listing for File Circle.hxx¶
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/*--------------------------------------------------------------------------*\
| |
| Copyright (C) 2017 |
| |
| , __ , __ |
| /|/ \ /|/ \ |
| | __/ _ ,_ | __/ _ ,_ |
| | \|/ / | | | | \|/ / | | | |
| |(__/|__/ |_/ \_/|/|(__/|__/ |_/ \_/|/ |
| /| /| |
| \| \| |
| |
| Enrico Bertolazzi |
| Dipartimento di Ingegneria Industriale |
| Universita` degli Studi di Trento |
| email: enrico.bertolazzi@unitn.it |
| |
\*--------------------------------------------------------------------------*/
namespace G2lib {
/*\
| ____ _ _ _
| / ___(_)_ __ ___| | ___ / \ _ __ ___
| | | | | '__/ __| |/ _ \ / _ \ | '__/ __|
| | |___| | | | (__| | __// ___ \| | | (__
| \____|_|_| \___|_|\___/_/ \_\_| \___|
\*/
class CircleArc : public BaseCurve {
friend class Biarc;
real_type m_x0;
real_type m_y0;
real_type m_theta0;
real_type m_c0;
real_type m_s0;
real_type m_k;
real_type m_L;
public:
#include "BaseCurve_using.hxx"
CircleArc()
: BaseCurve(G2LIB_CIRCLE)
, m_x0(0)
, m_y0(0)
, m_theta0(0)
, m_c0(1)
, m_s0(0)
, m_k(0)
, m_L(0)
{}
CircleArc( CircleArc const & s )
: BaseCurve(G2LIB_CIRCLE)
{ copy(s); }
explicit
CircleArc(
real_type x0,
real_type y0,
real_type theta0,
real_type k,
real_type L
)
: BaseCurve(G2LIB_CIRCLE)
, m_x0(x0)
, m_y0(y0)
, m_theta0(theta0)
, m_c0(cos(theta0))
, m_s0(sin(theta0))
, m_k(k)
, m_L(L)
{}
explicit
CircleArc( LineSegment const & LS )
: BaseCurve(G2LIB_CIRCLE)
, m_x0(LS.xBegin())
, m_y0(LS.yBegin())
, m_theta0(LS.m_theta0)
, m_c0(LS.m_c0)
, m_s0(LS.m_s0)
, m_k(0)
, m_L(LS.length())
{}
void
copy( CircleArc const & c ) {
m_x0 = c.m_x0;
m_y0 = c.m_y0;
m_theta0 = c.m_theta0;
m_c0 = c.m_c0;
m_s0 = c.m_s0;
m_k = c.m_k;
m_L = c.m_L;
}
explicit
CircleArc( BaseCurve const & C );
CircleArc const &
operator = ( CircleArc const & s )
{ copy(s); return *this; }
void
build(
real_type x0,
real_type y0,
real_type theta0,
real_type k,
real_type L
) {
m_x0 = x0;
m_y0 = y0;
m_theta0 = theta0;
m_k = k;
m_L = L;
}
bool
build_G1(
real_type x0,
real_type y0,
real_type theta0,
real_type x1,
real_type y1
);
bool
build_3P(
real_type x0,
real_type y0,
real_type x1,
real_type y1,
real_type x2,
real_type y2
);
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
bool
bbTriangle(
real_type & x0, real_type & y0,
real_type & x1, real_type & y1,
real_type & x2, real_type & y2
) const;
bool
bbTriangle_ISO(
real_type offs,
real_type & x0, real_type & y0,
real_type & x1, real_type & y1,
real_type & x2, real_type & y2
) const;
bool
bbTriangle_SAE(
real_type offs,
real_type & x0, real_type & y0,
real_type & x1, real_type & y1,
real_type & x2, real_type & y2
) const {
return this->bbTriangle_ISO( -offs, x0, y0, x1, y1, x2, y2 );
}
bool
bbTriangle(
real_type * p0,
real_type * p1,
real_type * p2
) const {
return bbTriangle( p0[0], p0[1], p1[0], p1[1], p2[0], p2[1] );
}
bool
bbTriangle_ISO(
real_type offs,
real_type * p0,
real_type * p1,
real_type * p2
) const {
return bbTriangle_ISO( offs, p0[0], p0[1], p1[0], p1[1], p2[0], p2[1] );
}
bool
bbTriangle_SAE(
real_type offs,
real_type * p0,
real_type * p1,
real_type * p2
) const {
return bbTriangle_SAE( offs, p0[0], p0[1], p1[0], p1[1], p2[0], p2[1] );
}
bool
bbTriangle(
Triangle2D & t,
real_type ss0 = 0,
real_type ss1 = 0,
int_type icurve = 0
) const {
real_type p0[2], p1[2], p2[2];
bool ok = bbTriangle( p0, p1, p2 );
if ( ok ) t.build( p0, p1, p2, ss0, ss1, icurve );
return ok;
}
bool
bbTriangle_ISO(
real_type offs,
Triangle2D & t,
real_type ss0 = 0,
real_type ss1 = 0,
int_type icurve = 0
) const {
real_type p0[2], p1[2], p2[2];
bool ok = bbTriangle_ISO( offs, p0, p1, p2 );
if ( ok ) t.build( p0, p1, p2, ss0, ss1, icurve );
return ok;
}
bool
bbTriangle_SAE(
real_type offs,
Triangle2D & t,
real_type ss0 = 0,
real_type ss1 = 0,
int_type icurve = 0
) const {
return this->bbTriangle_ISO( -offs, t, ss0, ss1, icurve );
}
void
bbTriangles(
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100,
int_type icurve = 0
) const override; // 10 degree
void
bbTriangles_ISO(
real_type offs,
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100,
int_type icurve = 0
) const override; // 10 degree
void
bbTriangles_SAE(
real_type offs,
std::vector<Triangle2D> & tvec,
real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100,
int_type icurve = 0
) const override {
this->bbTriangles_ISO( -offs, tvec, max_angle, max_size, icurve );
}
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
bbox(
real_type & xmin,
real_type & ymin,
real_type & xmax,
real_type & ymax
) const override;
void
bbox_ISO(
real_type offs,
real_type & xmin,
real_type & ymin,
real_type & xmax,
real_type & ymax
) const override;
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type
length() const override
{ return m_L; }
real_type
length_ISO( real_type offs ) const override
{ return m_L*(1+m_k*offs); }
real_type thetaBegin() const override { return m_theta0; }
real_type kappaBegin() const override { return m_k; }
real_type kappaEnd() const override { return m_k; }
real_type xBegin() const override { return m_x0; }
real_type yBegin() const override { return m_y0; }
real_type tx_Begin() const override { return m_c0; }
real_type ty_Begin() const override { return m_s0; }
real_type nx_Begin_ISO() const override { return m_s0; }
real_type ny_Begin_ISO() const override { return -m_c0; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type theta ( real_type s ) const override { return m_theta0 + s*m_k; }
real_type theta_D ( real_type ) const override { return m_k; }
real_type theta_DD ( real_type ) const override { return 0; }
real_type theta_DDD( real_type ) const override { return 0; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
evaluate(
real_type s,
real_type & th,
real_type & kappa,
real_type & x,
real_type & y
) const override {
eval( s, x, y );
th = m_theta0 + s*m_k;
kappa = m_k;
}
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
real_type X( real_type s ) const override;
real_type Y( real_type s ) const override;
real_type X_D( real_type ) const override;
real_type Y_D( real_type ) const override;
real_type X_DD( real_type ) const override;
real_type Y_DD( real_type ) const override;
real_type X_DDD( real_type ) const override;
real_type Y_DDD( real_type ) const override;
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void
eval(
real_type s,
real_type & x,
real_type & y
) const override;
void
eval_D(
real_type,
real_type & x_D,
real_type & y_D
) const override;
void
eval_DD(
real_type,
real_type & x_DD,
real_type & y_DD
) const override;
void
eval_DDD(
real_type,
real_type & x_DDD,
real_type & y_DDD
) const override;
/*\
| _____ _ _ _
| |_ _| __ _ _ __ __| | | \ | |
| | | / _` | '_ \ / _` | | \| |
| | | | (_| | | | | (_| | | |\ |
| |_| \__,_|_| |_|\__,_| |_| \_|
\*/
real_type
tx( real_type s ) const override
{ return cos(theta(s)); }
real_type
tx_D( real_type s ) const override
{ return -sin(theta(s))*m_k; }
real_type
tx_DD( real_type s ) const override
{ return -cos(theta(s))*m_k*m_k; }
real_type
tx_DDD( real_type s ) const override
{ return sin(theta(s))*m_k*m_k*m_k; }
real_type
ty( real_type s ) const override
{ return sin(theta(s)); }
real_type
ty_D( real_type s ) const override
{ return cos(theta(s))*m_k; }
real_type
ty_DD( real_type s ) const override
{ return -sin(theta(s))*m_k*m_k; }
real_type
ty_DDD( real_type s ) const override
{ return -cos(theta(s))*m_k*m_k*m_k; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
void tg( real_type s, real_type & tx, real_type & ty ) const override;
void tg_D( real_type s, real_type & tx_D, real_type & ty_D ) const override;
void tg_DD( real_type s, real_type & tx_DD, real_type & ty_DD ) const override;
void tg_DDD( real_type s, real_type & tx_DDD, real_type & ty_DDD ) const override;
/*\
| _ __
| | |_ _ __ __ _ _ __ ___ / _| ___ _ __ _ __ ___
| | __| '__/ _` | '_ \/ __| |_ / _ \| '__| '_ ` _ \
| | |_| | | (_| | | | \__ \ _| (_) | | | | | | | |
| \__|_| \__,_|_| |_|___/_| \___/|_| |_| |_| |_|
\*/
void
translate( real_type tx, real_type ty ) override
{ m_x0 += tx; m_y0 += ty; }
void rotate( real_type angle, real_type cx, real_type cy ) override;
void reverse() override;
void
changeOrigin( real_type newx0, real_type newy0 ) override
{ m_x0 = newx0; m_y0 = newy0; }
void scale( real_type s ) override;
void trim( real_type s_begin, real_type s_end ) override;
/*\
| _ _ ____ _ _
| ___| | ___ ___ ___ ___| |_| _ \ ___ (_)_ __ | |_
| / __| |/ _ \/ __|/ _ \/ __| __| |_) / _ \| | '_ \| __|
| | (__| | (_) \__ \ __/\__ \ |_| __/ (_) | | | | | |_
| \___|_|\___/|___/\___||___/\__|_| \___/|_|_| |_|\__|
|
\*/
int_type
closestPoint_ISO(
real_type qx,
real_type qy,
real_type & x,
real_type & y,
real_type & s,
real_type & t,
real_type & dst
) const override;
int_type
closestPoint_ISO(
real_type qx,
real_type qy,
real_type offs,
real_type & x,
real_type & y,
real_type & s,
real_type & t,
real_type & dst
) const override;
void
info( ostream_type & stream ) const override
{ stream << "CircleArc\n" << *this << '\n'; }
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
// . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
/*\
| _ _ _ _
| ___ ___ | | (_)___(_) ___ _ __
| / __/ _ \| | | / __| |/ _ \| '_ \
| | (_| (_) | | | \__ \ | (_) | | | |
| \___\___/|_|_|_|___/_|\___/|_| |_|
\*/
bool
collision( CircleArc const & ) const;
bool
collision_ISO(
real_type offs,
CircleArc const & C,
real_type offs_obj
) const;
/*\
| _ _ _
| (_)_ __ | |_ ___ _ __ ___ ___ ___| |_
| | | '_ \| __/ _ \ '__/ __|/ _ \/ __| __|
| | | | | | || __/ | \__ \ __/ (__| |_
| |_|_| |_|\__\___|_| |___/\___|\___|\__|
\*/
void
intersect(
CircleArc const & obj,
IntersectList & ilist,
bool swap_s_vals
) const;
void
intersect_ISO(
real_type offs,
CircleArc const & C,
real_type offs_obj,
IntersectList & ilist,
bool swap_s_vals
) const;
real_type sinTheta0() const { return sin(m_theta0); }
real_type cosTheta0() const { return cos(m_theta0); }
real_type curvature() const { return m_k; }
real_type lenTolerance( real_type tol ) const;
real_type delta_theta() const { return m_L*m_k; }
real_type thetaTotalVariation() const { return std::abs(m_L*m_k); }
real_type
thetaMinMax( real_type & thMin, real_type & thMax ) const;
real_type
deltaTheta() const
{ real_type thMin, thMax; return thetaMinMax( thMin, thMax ); }
void
changeCurvilinearOrigin( real_type s0, real_type newL );
void
center( real_type & cx, real_type & cy ) const;
real_type ray() const { return 1/std::abs(m_k); }
/*\
| _ _ _ _ ____ ____ ____
| | \ | | | | | _ \| __ ) ___|
| | \| | | | | |_) | _ \___ \
| | |\ | |_| | _ <| |_) |__) |
| |_| \_|\___/|_| \_\____/____/
\*/
void
paramNURBS( int_type & n_knots, int_type & n_pnts ) const;
void
toNURBS( real_type * knots, real_type Poly[][3] ) const;
friend
ostream_type &
operator << ( ostream_type & stream, CircleArc const & c );
friend class ClothoidCurve;
};
}
