Curve Class Reference

Curve is an abstract representation of a smooth curve geometry in 3D. More...

#include <Curve.hpp>

Inherited by ParametricCurve.

Public Types
typedef rw::core::Ptr< Curve >	Ptr
	Smart pointer type for Curve.
typedef rw::core::Ptr< const Curve >	CPtr
	Smart pointer type for a const Curve.

Public Member Functions
	Curve ()
	Constructor.
virtual	~Curve ()
	Destructor.
rw::core::Ptr< Curve >	transform (const rw::math::Transform3D< double > &T) const
	Transform curve. More...
rw::core::Ptr< Curve >	transform (const rw::math::Vector3D< double > &P) const
	Transform curve. More...
rw::core::Ptr< Curve >	scale (double factor) const
	Get a scaled version of the curve. More...
rw::core::Ptr< Curve >	reverse () const
	Make a curve where time variable runs in opposite direction. More...
rw::core::Ptr< Curve >	clone () const
	Make a copy of the curve. More...
virtual std::pair< double, double >	extremums (const rw::math::Vector3D< double > &dir) const =0
	Get extremums of curve in given direction. More...
virtual std::list< rw::math::Vector3D< double > >	discretizeAdaptive (double stepsPerRevolution) const =0
	Make a discretization of the curve. More...
virtual OBB	obr () const =0
	Bounding rectangle of curve. More...
virtual std::vector< rw::math::Vector3D< double > >	closestPoints (const rw::math::Vector3D< double > &p) const =0
	Get the closest points on the curve to a point p. More...
virtual bool	equals (rw::core::Ptr< const Curve > curve, double eps) const =0
	Check if this curve is equal to another curve. More...

Detailed Description

Curve is an abstract representation of a smooth curve geometry in 3D.

The interface provides functions for affine transformations, such as scaling, rotation and translation. In case of a limited curve segment, it is also possible to make a discretization of the curve into line segments.

Member Function Documentation

clone()

rw::core::Ptr<Curve> clone ( ) const

inline

Make a copy of the curve.

Returns

a new copy of the curve.

closestPoints()

virtual std::vector<rw::math::Vector3D<double> > closestPoints ( const rw::math::Vector3D< double > &  p ) const

pure virtual

Get the closest points on the curve to a point p.

Notice that the limits are taken into account.

Parameters

p	[in] the point to find closest values for.

Returns

a vector of closest points to p.

Implemented in ParametricCurve, and QuadraticCurve.

discretizeAdaptive()

virtual std::list<rw::math::Vector3D<double> > discretizeAdaptive ( double  stepsPerRevolution ) const

pure virtual

Make a discretization of the curve.

The curve must be limited. The discretization is based on the curvature, such that the sampling starts at maximum curvature points (or in limits). The step size to the next point is based on the curvature in the current point.

A line will always give to points, regardless of the chosen number of steps per revolution.

Parameters

stepsPerRevolution

[in] the number of points to sample if the curve is a perfect circle.

Returns

a list of points on the curve.

Implemented in ParametricCurve, and QuadraticCurve.

equals()

virtual bool equals ( rw::core::Ptr< const Curve >  curve, double  eps  ) const

pure virtual

Check if this curve is equal to another curve.

Parameters

curve	[in] other curve.
eps	[in] distance threshold.

Returns

true if curves are identical, false otherwise.

Implemented in ParametricCurve, and QuadraticCurve.

extremums()

virtual std::pair<double, double> extremums ( const rw::math::Vector3D< double > &  dir ) const

pure virtual

Get extremums of curve in given direction.

Notice that the limits are taken into account.

Parameters

dir	[in] direction to get extremums for.

Returns

the minimum and maximum value of the curve in the given direction.

Implemented in ParametricCurve, and QuadraticCurve.

obr()

virtual OBB obr ( ) const

pure virtual

Bounding rectangle of curve.

The curve must be limited.

Returns

the bounding rectangle.

Implemented in ParametricCurve, and QuadraticCurve.

reverse()

rw::core::Ptr<Curve> reverse ( ) const

inline

Make a curve where time variable runs in opposite direction.

Returns

reversed curve.

scale()

rw::core::Ptr<Curve> scale ( double  factor ) const

inline

Get a scaled version of the curve.

Parameters

factor

[in] the factor to scale with.

Returns

a new scaled curve.

transform() [1/2]

rw::core::Ptr<Curve> transform ( const rw::math::Transform3D< double > &  T ) const

inline

Transform curve.

Parameters

T	[in] transformation of curve.

Returns

a new transformed curve.

transform() [2/2]

rw::core::Ptr<Curve> transform ( const rw::math::Vector3D< double > &  P ) const

inline

Transform curve.

Parameters

P	[in] positional offset.

Returns

a new transformed curve.

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

• Curve.hpp