Gazebo Math

API Reference

7.5.1
Spline Class Reference

Splines. More...

#include <gz/math/Spline.hh>

Public Member Functions

 Spline ()
 constructor More...
 
void AddPoint (const Vector3d &_p)
 Adds a single control point to the end of the spline. More...
 
void AddPoint (const Vector3d &_p, const Vector3d &_t)
 Adds a single control point to the end of the spline with fixed tangent. More...
 
double ArcLength () const
 Gets spline arc length. More...
 
double ArcLength (const double _t) const
 Sets spline arc length up to a given parameter value _t. More...
 
double ArcLength (const unsigned int _index, const double _t) const
 Sets a spline segment arc length. More...
 
void AutoCalculate (bool _autoCalc)
 Tells the spline whether it should automatically calculate tangents on demand as points are added. More...
 
void Clear ()
 Clears all the points in the spline. More...
 
Vector3d Interpolate (const double _t) const
 Interpolates a point on the spline at parameter value _t. More...
 
Vector3d Interpolate (const unsigned int _fromIndex, const double _t) const
 Interpolates a point on a segment of the spline at parameter value _t. More...
 
Vector3d InterpolateMthDerivative (const unsigned int _fromIndex, const unsigned int _mth, const double _s) const
 Interpolates the mth derivative of a segment of the spline at parameter value _t. More...
 
Vector3d InterpolateMthDerivative (const unsigned int _mth, const double _1) const
 Interpolates the mth derivative of the spline at parameter value _t. More...
 
Vector3d InterpolateTangent (const double _t) const
 Interpolates a tangent on the spline at parameter value _t. More...
 
Vector3d InterpolateTangent (const unsigned int _fromIndex, const double _t) const
 Interpolates the tangent on a segment of the spline at parameter value _t. More...
 
Vector3d MthDerivative (const unsigned int _index, const unsigned int _mth) const
 Gets the mth derivative for one of the control points of the spline. More...
 
Vector3d Point (const unsigned int _index) const
 Gets the value for one of the control points of the spline. More...
 
size_t PointCount () const
 Gets the number of control points in the spline. More...
 
void RecalcTangents ()
 Recalculates the tangents associated with this spline. More...
 
Vector3d Tangent (const unsigned int _index) const
 Gets the tangent value for one of the control points of the spline. More...
 
double Tension () const
 Gets the tension value. More...
 
void Tension (double _t)
 Sets the tension parameter. More...
 
bool UpdatePoint (const unsigned int _index, const Vector3d &_p)
 Updates a single control point value in the spline, keeping its tangent. More...
 
bool UpdatePoint (const unsigned int _index, const Vector3d &_p, const Vector3d &_t)
 Updates a single control point in the spline, along with its tangent. More...
 

Detailed Description

Splines.

Constructor & Destructor Documentation

◆ Spline()

Spline ( )

constructor

Member Function Documentation

◆ AddPoint() [1/2]

void AddPoint ( const Vector3d _p)

Adds a single control point to the end of the spline.

Parameters
[in]_pcontrol point value to add.

◆ AddPoint() [2/2]

void AddPoint ( const Vector3d _p,
const Vector3d _t 
)

Adds a single control point to the end of the spline with fixed tangent.

Parameters
[in]_pcontrol point value to add.
[in]_ttangent at _p.

◆ ArcLength() [1/3]

double ArcLength ( ) const

Gets spline arc length.

Returns
arc length or INF on error.

◆ ArcLength() [2/3]

double ArcLength ( const double  _t) const

Sets spline arc length up to a given parameter value _t.

Parameters
[in]_tparameter value (range 0 to 1).
Returns
arc length up to _t or INF on error.

◆ ArcLength() [3/3]

double ArcLength ( const unsigned int  _index,
const double  _t 
) const

Sets a spline segment arc length.

Parameters
[in]_indexof the spline segment.
[in]_tparameter value (range 0 to 1).
Returns
arc length of a given segment up to _t or INF on error.

◆ AutoCalculate()

void AutoCalculate ( bool  _autoCalc)

Tells the spline whether it should automatically calculate tangents on demand as points are added.

Remarks
The spline calculates tangents at each point automatically based on the input points. Normally it does this every time a point changes. However, if you have a lot of points to add in one go, you probably don't want to incur this overhead and would prefer to defer the calculation until you are finished setting all the points. You can do this by calling this method with a parameter of 'false'. Just remember to manually call the recalcTangents method when you are done.
Parameters
[in]_autoCalcIf true, tangents are calculated for you whenever a point changes. If false, you must call RecalcTangents to recalculate them when it best suits.

◆ Clear()

void Clear ( )

Clears all the points in the spline.

◆ Interpolate() [1/2]

Vector3d Interpolate ( const double  _t) const

Interpolates a point on the spline at parameter value _t.

Remarks
Parameter value is normalized over the whole spline arc length. Arc length is assumed to be linear with the parameter.
Parameters
[in]_tparameter value (range 0 to 1).
Returns
the interpolated point, or [INF, INF, INF] on error. Use Vector3d::IsFinite() to check for an error.

◆ Interpolate() [2/2]

Vector3d Interpolate ( const unsigned int  _fromIndex,
const double  _t 
) const

Interpolates a point on a segment of the spline at parameter value _t.

Remarks
Parameter value is normalized over the segment arc length. Arc length is assumed to be linear with the parameter.
Parameters
[in]_fromIndexThe point index to treat as t = 0. fromIndex + 1 is deemed to be t = 1.
[in]_tparameter value (range 0 to 1).
Returns
the interpolated point, or [INF, INF, INF] on error. Use Vector3d::IsFinite() to check for an error.

◆ InterpolateMthDerivative() [1/2]

Vector3d InterpolateMthDerivative ( const unsigned int  _fromIndex,
const unsigned int  _mth,
const double  _s 
) const

Interpolates the mth derivative of a segment of the spline at parameter value _t.

Remarks
Parameter value is normalized over the segment arc length. Arc length is assumed to be linear with the parameter.
Parameters
[in]_fromIndexpoint index to treat as t = 0, fromIndex + 1 is deemed to be t = 1.
[in]_mthorder of curve derivative to interpolate.
[in]_sparameter value (range 0 to 1).
Returns
the interpolated mth derivative, or [INF, INF, INF] on error. Use Vector3d::IsFinite() to check for an error.

◆ InterpolateMthDerivative() [2/2]

Vector3d InterpolateMthDerivative ( const unsigned int  _mth,
const double  _1 
) const

Interpolates the mth derivative of the spline at parameter value _t.

Parameters
[in]_mthorder of curve derivative to interpolate.
[in]_1parameter value (range 0 to 1).
Returns
the interpolated mth derivative, or [INF, INF, INF] on error. Use Vector3d::IsFinite() to check for an error.

◆ InterpolateTangent() [1/2]

Vector3d InterpolateTangent ( const double  _t) const

Interpolates a tangent on the spline at parameter value _t.

Remarks
Parameter value is normalized over the whole spline arc length. Arc length is assumed to be linear with the parameter.
Parameters
[in]_tparameter value (range 0 to 1).
Returns
the interpolated point, or [INF, INF, INF] on error. Use Vector3d::IsFinte() to check for an error.

◆ InterpolateTangent() [2/2]

Vector3d InterpolateTangent ( const unsigned int  _fromIndex,
const double  _t 
) const

Interpolates the tangent on a segment of the spline at parameter value _t.

Remarks
Parameter value is normalized over the segment arc length. Arc length is assumed to be linear with the parameter.
Parameters
[in]_fromIndexthe point index to treat as t = 0. fromIndex + 1 is deemed to be t = 1.
[in]_tparameter value (range 0 to 1).
Returns
the interpolated point, or [INF, INF, INF] on error. Use Vector3d::IsFinte() to check for an error.

◆ MthDerivative()

Vector3d MthDerivative ( const unsigned int  _index,
const unsigned int  _mth 
) const

Gets the mth derivative for one of the control points of the spline.

Parameters
[in]_indexthe control point index.
[in]_mthderivative order.
Returns
the control point mth derivative, or [INF, INF, INF] on error. Use Vector3d::IsFinite() to check for an error.

◆ Point()

Vector3d Point ( const unsigned int  _index) const

Gets the value for one of the control points of the spline.

Parameters
[in]_indexthe control point index.
Returns
the control point value, or [INF, INF, INF] on error. Use Vector3d::IsFinite() to check for an error.

◆ PointCount()

size_t PointCount ( ) const

Gets the number of control points in the spline.

Returns
the count

◆ RecalcTangents()

void RecalcTangents ( )

Recalculates the tangents associated with this spline.

Remarks
If you tell the spline not to update on demand by calling setAutoCalculate(false) then you must call this after completing your updates to the spline points.

◆ Tangent()

Vector3d Tangent ( const unsigned int  _index) const

Gets the tangent value for one of the control points of the spline.

Parameters
[in]_indexthe control point index.
Returns
the control point tangent, or [INF, INF, INF] on error. Use Vector3d::IsFinite() to check for an error.

◆ Tension() [1/2]

double Tension ( ) const

Gets the tension value.

Returns
the value of the tension, which is between 0.0 and 1.0.

◆ Tension() [2/2]

void Tension ( double  _t)

Sets the tension parameter.

Remarks
A value of 0 results in a Catmull-Rom spline.
Parameters
[in]_tTension value between 0.0 and 1.0

◆ UpdatePoint() [1/2]

bool UpdatePoint ( const unsigned int  _index,
const Vector3d _p 
)

Updates a single control point value in the spline, keeping its tangent.

Parameters
[in]_indexthe control point index.
[in]_pthe new control point value.
Returns
True on success.

◆ UpdatePoint() [2/2]

bool UpdatePoint ( const unsigned int  _index,
const Vector3d _p,
const Vector3d _t 
)

Updates a single control point in the spline, along with its tangent.

Parameters
[in]_indexthe control point index.
[in]_pthe new control point value.
[in]_tthe new control point tangent.
Returns
True on success.

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