Package org.robwork.sdurw_geometry

Class ParametricCurve

java.lang.Object

org.robwork.sdurw_geometry.ParametricCurve

public class ParametricCurve
extends java.lang.Object

Interface for parametric curves. A parametric curve, \mathbf{p}(t) \in \mathbb{R}^3 , has its points given as a function of a single parameter, t \in \mathbb{R}.

Parametric curves have functions for evaluation of points, derivatives and curvature.
A parmateric curve can be limited, and it is possible to find closest points with a given
point.

Constructor Summary

Constructors

Constructor	Description
ParametricCurve(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
Vector3D	call(double in)
ParametricCurvePtr	clone()
SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t	closestPoints(Vector3D p)
double	closestTime(Vector3D p)	Get the parameter value where the curve is closest to a point p. Notice that the limits are taken into account.
vector_d	closestTimes(Vector3D p)	Get the parameter values where the curve is closest to a point p. Notice that the limits are taken into account.
double	curvature(double t)	The curvature in a given point on the curve. This function does not take the limits into account.
boolean	CurveEqual(CurveCPtr curve, double eps)
Vector3D	ddx(double t)	Evaluate the second derivative in a point on the curve.
void	delete()
SWIGTYPE_p_std__listT_rw__math__Vector3DT_double_t_t	discretizeAdaptive(double stepsPerRevolution)
Vector3D	dx(double t)	Evaluate the derivative in a point on the curve.
pair_d_d	extremums(Vector3D dir)
static long	getCPtr(ParametricCurve obj)
boolean	hasLimits()	Check if the curve is limited.
boolean	inLimits(double t)	Check if the parameter t is inside the limits set for the curve.
pair_d_d	limits()	Get the limits of the curve segment. The returned values are only valid when hasLimits() returns true.
OBB	obr()
ParametricCurvePtr	reverse()
ParametricCurvePtr	scale(double factor)
void	setLimits(pair_d_d limits)	Set parameter limits for the curve.
ParametricCurvePtr	transform(Transform3D T)	rw::math::Transform3D<double>&) const
ParametricCurvePtr	transform(Vector3D P)	rw::math::Vector3D<double>&) const
Vector3D	x(double t)	Evaluate a point on the curve.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ParametricCurve

public ParametricCurve(long cPtr,
                       boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(ParametricCurve obj)

delete

public void delete()

transform

public ParametricCurvePtr transform(Transform3D T)

rw::math::Transform3D<double>&) const

transform

public ParametricCurvePtr transform(Vector3D P)

rw::math::Vector3D<double>&) const

scale

public ParametricCurvePtr scale(double factor)

reverse

public ParametricCurvePtr reverse()

clone

public ParametricCurvePtr clone()

extremums

public pair_d_d extremums(Vector3D dir)

discretizeAdaptive

public SWIGTYPE_p_std__listT_rw__math__Vector3DT_double_t_t discretizeAdaptive(double stepsPerRevolution)

obr

public OBB obr()

closestPoints

public SWIGTYPE_p_std__vectorT_rw__math__Vector3DT_double_t_t closestPoints(Vector3D p)

CurveEqual

public boolean CurveEqual(CurveCPtr curve,
                          double eps)

x

public Vector3D x(double t)

Evaluate a point on the curve.

Parameters:

t - [in] the parameter to find point for.

Returns:

the vector p \in \mathbb{R}^3 .

dx

public Vector3D dx(double t)

Evaluate the derivative in a point on the curve.

Parameters:

t - [in] the parameter to find derivative for.

Returns:

a derivative vector p \in \mathbb{R}^3 .

ddx

public Vector3D ddx(double t)

Evaluate the second derivative in a point on the curve.

Parameters:

t - [in] the parameter to find second derivative for.

Returns:

a second derivative vector p \in \mathbb{R}^3 .

call

public Vector3D call(double in)

hasLimits

public boolean hasLimits()

Check if the curve is limited.

Returns:

true if curve is limited, false otherwise.

limits

public pair_d_d limits()

Get the limits of the curve segment.

The returned values are only valid when hasLimits() returns true.

Returns:

the minimum and maximum parameter values on the curve.

inLimits

public boolean inLimits(double t)

Check if the parameter t is inside the limits set for the curve.

Parameters:

t - [in] the parameter to check.

Returns:

true if inside limits, false otherwise.

setLimits

public void setLimits(pair_d_d limits)

Set parameter limits for the curve.

Parameters:

limits - [in] the minimum and maximum parameter values on the curve.

curvature

public double curvature(double t)

The curvature in a given point on the curve.

This function does not take the limits into account.

Parameters:

t - [in] the parameter to evaluate the curvature for.

Returns:

the curvature.

closestTimes

public vector_d closestTimes(Vector3D p)

Get the parameter values where the curve is closest to a point p.

Notice that the limits are taken into account.

Parameters:

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

Returns:

a list of parameter values.

closestTime

public double closestTime(Vector3D p)

Get the parameter value where the curve is closest to a point p.

Notice that the limits are taken into account.

Parameters:

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

Returns:

the point on the curve closest to p. If multiple points are equally close to
p, only one of those points are returned.