Class CurveBase¶

Defined in File CurveBase.m

Inheritance Relationships¶

Base Type¶

public handle

Derived Types¶

public Biarc (Class Biarc)
public BiarcList (Class BiarcList)
public CircleArc (Class CircleArc)
public ClothoidCurve (Class ClothoidCurve)
public ClothoidList (Class ClothoidList)
public LineSegment (Class LineSegment)
public PolyLine (Class PolyLine)

Class Documentation¶

class CurveBase : public handle¶

Subclassed by Biarc, BiarcList, CircleArc, ClothoidCurve, ClothoidList, LineSegment, PolyLine

Public Functions

function CurveBase( mexName)¶

function obj_handle( self)¶

Return the pointer of the interbal stored c++ object

Usage

obj = ref.obj_handle();

function copy( self, C)¶

Make of copy of a curve object

Usage

ref.copy( C );

where C id the curve object to be copied.

function bbox( self, varargin)¶

Return the bounding box of the curve object

Usage

[ xmin, ymin, xmax, ymax ] = ref.bbox( C );
[ xmin, ymin, xmax, ymax ] = ref.bbox( C, offs );
[ xmin, ymin, xmax, ymax ] = ref.bbox( C, offs, 'ISO' );
[ xmin, ymin, xmax, ymax ] = ref.bbox( C, offs, 'SAE' );

xmin: x minimum coordinate of the bounding box
ymin: y minimum coordinate of the bounding box
xmax: x maximum coordinate of the bounding box
ymax: y maximum coordinate of the bounding box

Optional Arguments

offs: offset of the curve used in the bbox computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for offset computation

function translate( self, tx, ty)¶

Translate the curve by (tx,ty)

Usage

ref.translate( tx, ty );

function trim( self, smin, smax)¶

Cut the curve at the curvilinear parameter smin up to smax

Usage

ref.trim( smin, smax );

function rotate( self, angle, cx, cy)¶

Rotate the curve by angle angle around point (cx, cy)

Usage

ref.rotate( angle, cx, cy );

function reverse( self)¶

Reverse the direction of travel of the curve.

Usage

ref.reverse();

function scale( self, sc)¶

Scale the curve by factor sc

Usage

ref.scale( sc );

function changeOrigin( self, newX0, newY0)¶

Translate the curve in such a way the origin is at (newX0,newY0.

Usage

ref.changeOrigin( newX0, newY0 );

function evaluate( self, s, varargin)¶

Evaluate the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

[ x, y, theta, kappa ] = ref.evaluate( s );
[ x, y, theta, kappa ] = ref.evaluate( s, offs );
[ x, y, theta, kappa ] = ref.evaluate( s, offs, 'ISO' );
[ x, y, theta, kappa ] = ref.evaluate( s, offs, 'SAE' );

Optional Arguments

offs: offset of the curve used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for offset computation

function eval( self, varargin)¶

Evaluate the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval( s );
XY = ref.eval( s, offs );
XY = ref.eval( s, offs, 'ISO' );
XY = ref.eval( s, offs, 'SAE' );

[X,Y] = ref.eval( s );
[X,Y] = ref.eval( s, offs );
[X,Y] = ref.eval( s, offs, 'ISO' );
[X,Y] = ref.eval( s, offs, 'SAE' );

Optional Arguments

offs: offset of the curve used compiutation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for offset computation

Output

XY: matrix 2 x n of the evaluated points
X: vector of the x-coordinates of the evaluated points
Y: vector of the y-coordinates of the evaluated points

function eval_D( self, varargin)¶

Evaluate the first derivatives of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval_D( s );
XY = ref.eval_D( s, offs );
XY = ref.eval_D( s, offs, 'ISO' );
XY = ref.eval_D( s, offs, 'SAE' );

[X,Y] = ref.eval_D( s );
[X,Y] = ref.eval_D( s, offs );
[X,Y] = ref.eval_D( s, offs, 'ISO' );
[X,Y] = ref.eval_D( s, offs, 'SAE' );

Optional Arguments

offs: offset of the curve used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for offset computation

Output

XY: matrix 2 x n of the evaluated points
X: vector of the x-coordinates of the evaluated point derivatives
Y: vector of the y-coordinates of the evaluated point derivatives

function eval_DD( self, varargin)¶

Evaluate the second derivatives of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval_DD( s );
XY = ref.eval_DD( s, offs );
XY = ref.eval_DD( s, offs, 'ISO' );
XY = ref.eval_DD( s, offs, 'SAE' );

[X,Y] = ref.eval_DD( s );
[X,Y] = ref.eval_DD( s, offs );
[X,Y] = ref.eval_DD( s, offs, 'ISO' );
[X,Y] = ref.eval_DD( s, offs, 'SAE' );

Optional Arguments

offs: offset of the curve used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for offset computation

Output

XY: matrix 2 x n of the evaluated points
X: vector of the x-coordinates of the evaluated point derivatives
Y: vector of the y-coordinates of the evaluated point derivatives

function eval_DDD( self, varargin)¶

Evaluate the third derivatives of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

XY = ref.eval_DDD( s );
XY = ref.eval_DDD( s, offs );
XY = ref.eval_DDD( s, offs, 'ISO' );
XY = ref.eval_DDD( s, offs, 'SAE' );

[X,Y] = ref.eval_DDD( s );
[X,Y] = ref.eval_DDD( s, offs );
[X,Y] = ref.eval_DDD( s, offs, 'ISO' );
[X,Y] = ref.eval_DDD( s, offs, 'SAE' );

Optional Arguments

offs: offset of the curve used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for offset computation

Output

XY: matrix 2 x n of the evaluated points
X: vector of the x-coordinates of the evaluated point derivatives
Y: vector of the y-coordinates of the evaluated point derivatives

function theta( self, s)¶

Evaluate the angle of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta( s );

function theta_D( self, s)¶

Evaluate the angle derivatives (curvature) of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta_D( s );

function theta_DD( self, s)¶

Evaluate the angle second derivatuve of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta_DD( s );

function theta_DDD( self, s)¶

Evaluate the angle third derivative of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.theta_DDD( s );

function kappa( self, s)¶

Evaluate the curvature of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.kappa( s );

function kappa_D( self, s)¶

Evaluate the curvature derivative of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.kappa_D( s );

function kappa_DD( self, s)¶

Evaluate the curvature second derivative of the curve at curvilinear coordinate s. Argument s may be a vector for multiple evaluations.

Usage

theta = ref.kappa_DD( s );

function xyBegin( self)¶

Evaluate initial point of the curve.

Usage

[ x0, y0 ] = ref.xyBegin();

function xyEnd( self)¶

Evaluate final point of the curve.

Usage

[ x1, y1 ] = ref.xyEnd();

function xBegin( self)¶

Evaluate initial x-coordinate of the curve.

Usage

x0 = ref.xBegin();

function xEnd( self)¶

Evaluate final x-coordinate of the curve.

Usage

x1 = ref.xEnd();

function yBegin( self)¶

Evaluate initial y-coordinate of the curve.

Usage

y0 = ref.yBegin();

function yEnd( self)¶

Evaluate final y-coordinate of the curve.

Usage

y1 = ref.yEnd();

function thetaBegin( self)¶

Evaluate initial angle of the curve.

Usage

theta = ref.thetaBegin();

function thetaEnd( self)¶

Evaluate final angle of the curve.

Usage

theta = ref.thetaEnd();

function kappaBegin( self)¶

Evaluate initial curvature of the curve.

Usage

kappa0 = ref.kappaBegin();

function kappaEnd( self)¶

Evaluate final curvature of the curve.

Usage

kappa1 = ref.kappaEnd();

function length( self, varargin)¶

Return the length of the curve.

Usage

length = ref.length();

function points( self)¶

function bbTriangles( self, varargin)¶

Evaluate the bounding box triangles of curve.

Usage

[P1,P2,P3] = ref.bbTriangles();
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size);
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size,offs);
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size,offs,'ISO');
[P1,P2,P3] = ref.bbTriangles(max_angle,max_size,offs,'SAE');

Optional Arguments

max_angle: maximum curve angle variation admitted in a triangle
max_size: maximum triangles size
offs: offset of the curve used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for the offset

Output

P1: 2 x n matrix with the first points of the triangles
P2: 2 x n matrix with the second points of the triangles
P3: 2 x n matrix with the third points of the triangles

function closestPoint( self, qx, qy, varargin)¶

Evaluate the point at minimum distance of another point on the curve. qx and qy may be vectors so that the return values are vectors too.

Usage

[ x, y, s, t, iflag, dst ] = ref.closestPoint( qx, qy );
[ x, y, s, t, iflag, dst ] = ref.closestPoint( qx, qy, offs );
[ x, y, s, t, iflag, dst ] = ref.closestPoint( qx, qy, offs, 'ISO' );
[ x, y, s, t, iflag, dst ] = ref.closestPoint( qx, qy, offs, 'SAE' );

Optional Arguments

offs: offset of the curve used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for the offset

Output

x, y: Point at minimum distance from (qx,qy) on the curve.
s, t: Curvilinear coordinates of the point (qx,qy).
iflag: iflag < 0 some error in computation, iflag >0 is the numer of segment containing the point at minimum distance.
dst: point curve distance.

function distance( self, qx, qy, varargin)¶

Evaluate the distance of a point (qx,qy) to the curve. qx and qy may be vectors so that the return values are vectors too.

Usage

dst = ref.distance( qx, qy );
dst = ref.distance( qx, qy, offs );
dst = ref.distance( qx, qy, offs, 'ISO' );
dst = ref.distance( qx, qy, offs, 'SAE' );

Optional Arguments

offs: offset of the curve used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for the offset

function collision( self, OBJ, varargin)¶

Check if two curve collide.

Usage

ok = ref.collision( obj );
ok = ref.collision( obj, offs, offs1 );
ok = ref.collision( obj, offs, offs1, 'ISO' );
ok = ref.collision( obj, offs, offs1, 'SAE' );

Optional Arguments

offs, offs1: offset of the curves used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for the offsets

function intersect( self, OBJ, varargin)¶

Intersect two curves.

Usage

[s1,s2] = ref.intersect( obj );
[s1,s2] = ref.intersect( obj, offs, offs1 );
[s1,s2] = ref.intersect( obj, offs, offs1, 'ISO' );
[s1,s2] = ref.intersect( obj, offs, offs1, 'SAE' );

s1: curvilinear coordinates of the intersections on the first curve
s2: curvilinear coordinates of the intersections on the second curve

Optional Argument

offs, offs1: offset of the curves used in computation
’ISO’/’SAE’: use ISO or SAE orientation of the normal for the offsets

function info( self)¶

Print on the console some information on the stored curve.

Usage

ref.info();

function find_coord( self, x, y)¶

Get the curvilinear coordinates of the point (x,y)

Usage:

[s,t] = ref.find_coord( x, y );

s: curvilinear coordinate along the curve
t: curvilinear coordinate along the normal of the curve

function yesAABBtree( self)¶: Activate the use of AABB three in intersection/collision computations

function noAABBtree( self)¶: Deactivate the use of AABB three in intersection/collision computations

function plotTBox( self, P1, P2, P3, varargin)¶

Plot a triangle BBOX

Usage:

ref.plotTBox( P1, P2, P3 );
ref.plotTBox( P1, P2, P3, 'Color', 'red' );

function plotBBox( self, varargin)¶

Plot the bounding box of the curve

Usage:

ref.plotBBox();
ref.plotBBox('Color', 'red' );

function plotTriangles( self, varargin)¶

Plot the covering triangles of the curve

Usage:

ref.plotTriangles()
ref.plotTriangles('red','FaceAlpha', 0.5);