Splines. More...

#include <gz/math/Spline.hh>

Public Member Functions
	Spline ()
	constructor

void	AddPoint (const Vector3d &_p)
	Adds a single control point to the end of the spline.

void	AddPoint (const Vector3d &_p, const Vector3d &_t)
	Adds a single control point to the end of the spline with fixed tangent.

double	ArcLength () const
	Gets spline arc length.

double	ArcLength (const double _t) const
	Sets spline arc length up to a given parameter value `_t`.

double	ArcLength (const unsigned int _index, const double _t) const
	Sets a spline segment arc length.

void	AutoCalculate (bool _autoCalc)
	Tells the spline whether it should automatically calculate tangents on demand as points are added.

void	Clear ()
	Clears all the points in the spline.

Vector3d	Interpolate (const double _t) const
	Interpolates a point on the spline at parameter value `_t`.

Vector3d	Interpolate (const unsigned int _fromIndex, const double _t) const
	Interpolates a point on a segment of the spline at parameter value `_t`.

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`.

Vector3d	InterpolateMthDerivative (const unsigned int _mth, const double _1) const
	Interpolates the mth derivative of the spline at parameter value `_t`.

Vector3d	InterpolateTangent (const double _t) const
	Interpolates a tangent on the spline at parameter value `_t`.

Vector3d	InterpolateTangent (const unsigned int _fromIndex, const double _t) const
	Interpolates the tangent on a segment of the spline at parameter value `_t`.

Vector3d	MthDerivative (const unsigned int _index, const unsigned int _mth) const
	Gets the mth derivative for one of the control points of the spline.

Vector3d	Point (const unsigned int _index) const
	Gets the value for one of the control points of the spline.

size_t	PointCount () const
	Gets the number of control points in the spline.

void	RecalcTangents ()
	Recalculates the tangents associated with this spline.

Vector3d	Tangent (const unsigned int _index) const
	Gets the tangent value for one of the control points of the spline.

double	Tension () const
	Gets the tension value.

void	Tension (double _t)
	Sets the tension parameter.

bool	UpdatePoint (const unsigned int _index, const Vector3d &_p)
	Updates a single control point value in the spline, keeping its tangent.

bool	UpdatePoint (const unsigned int _index, const Vector3d &_p, const Vector3d &_t)
	Updates a single control point in the spline, along with its tangent.

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] _p control 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]	_p	control point value to add.
[in]	_t	tangent 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] _t parameter 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]	_index	of the spline segment.
[in]	_t	parameter 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] _autoCalc If 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] _t parameter 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]	_fromIndex	The point index to treat as t = 0. fromIndex + 1 is deemed to be t = 1.
[in]	_t	parameter 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]	_fromIndex	point index to treat as t = 0, fromIndex + 1 is deemed to be t = 1.
[in]	_mth	order of curve derivative to interpolate.
[in]	_s	parameter 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]	_mth	order of curve derivative to interpolate.
[in]	_1	parameter 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] _t parameter 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]	_fromIndex	the point index to treat as t = 0. fromIndex + 1 is deemed to be t = 1.
[in]	_t	parameter 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]	_index	the control point index.
[in]	_mth	derivative 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] _index the 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] _index the 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] _t Tension 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]	_index	the control point index.
[in]	_p	the 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]	_index	the control point index.
[in]	_p	the new control point value.
[in]	_t	the new control point tangent.

Returns: True on success.

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

Spline.hh

Gazebo Math

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Spline()

Member Function Documentation

◆ AddPoint() [1/2]

◆ AddPoint() [2/2]

◆ ArcLength() [1/3]

◆ ArcLength() [2/3]

◆ ArcLength() [3/3]

◆ AutoCalculate()

◆ Clear()

◆ Interpolate() [1/2]

◆ Interpolate() [2/2]

◆ InterpolateMthDerivative() [1/2]

◆ InterpolateMthDerivative() [2/2]

◆ InterpolateTangent() [1/2]

◆ InterpolateTangent() [2/2]

◆ MthDerivative()

◆ Point()

◆ PointCount()

◆ RecalcTangents()

◆ Tangent()

◆ Tension() [1/2]

◆ Tension() [2/2]

◆ UpdatePoint() [1/2]

◆ UpdatePoint() [2/2]