#include <BezierQuad.hpp>

Collaboration diagram for bezier::BezierQuad< Tp >:

Public Types
using	Vector3_t = matrix::Vector< Tp, 3 >

Public Member Functions
	BezierQuad ()
	Empty constructor. More...

	BezierQuad (const Tp pt0[3], const Tp ctrl[3], const Tp pt1[3], Tp duration=1.0f)
	Constructor from array. More...

	BezierQuad (const Vector3_t &pt0, const Vector3_t &ctrl, const Vector3_t &pt1, Tp duration=1.0f)
	Constructor from vector. More...

void	getBezier (Vector3_t &pt0, Vector3_t &ctrl, Vector3_t &pt1)

Vector3_t	getPt0 ()

Vector3_t	getCtrl ()

Vector3_t	getPt1 ()

void	setBezier (const Vector3_t &pt0, const Vector3_t &ctrl, const Vector3_t &pt1, Tp duration=(Tp) 1)
	Set new bezier points and duration. More...

void	setDuration (const Tp time)

Vector3_t	getPoint (const Tp t)
	Return point on bezier point corresponding to time t. More...

Tp	getDistToClosestPoint (const Vector3_t &pose)

Vector3_t	getVelocity (const Tp t)

Vector3_t	getAcceleration ()

void	getStates (Vector3_t &point, Vector3_t &vel, Vector3_t &acc, const Tp t)

void	getStatesClosest (Vector3_t &point, Vector3_t &vel, Vector3_t &acc, const Vector3_t pose)

void	setBezFromVel (const Vector3_t &ctrl, const Vector3_t &vel0, const Vector3_t &vel1, const Tp duration=(Tp) 1)

Tp	getArcLength (const Tp resolution)

Private Member Functions
Tp	_goldenSectionSearch (const Vector3_t &pose)

Tp	_getDistanceSquared (const Tp t, const Vector3_t &pose)

Private Attributes
Vector3_t	_pt0
	Bezier starting point. More...

Vector3_t	_ctrl
	Bezier control point. More...

Vector3_t	_pt1
	bezier end point More...

Tp	_duration = (Tp)1
	Total time to travle along spline. More...

Tp	_cached_arc_length = (Tp)0
	The saved arc length of the spline. More...

Tp	_cached_resolution = (Tp)(-1)
	The resolution used to compute the arc length. More...

Detailed Description

template<typename Tp>
class bezier::BezierQuad< Tp >

Definition at line 55 of file BezierQuad.hpp.

Member Typedef Documentation

◆ Vector3_t

template<typename Tp >

using bezier::BezierQuad< Tp >::Vector3_t = matrix::Vector<Tp, 3>

Definition at line 59 of file BezierQuad.hpp.

Constructor & Destructor Documentation

◆ BezierQuad() [1/3]

template<typename Tp >

bezier::BezierQuad< Tp >::BezierQuad ( )

inline

Empty constructor.

Definition at line 64 of file BezierQuad.hpp.

◆ BezierQuad() [2/3]

template<typename Tp >

bezier::BezierQuad< Tp >::BezierQuad	(	const Tp	pt0[3],
		const Tp	ctrl[3],
		const Tp	pt1[3],
		Tp	duration = `1.0f`
	)

inline

Constructor from array.

Definition at line 70 of file BezierQuad.hpp.

◆ BezierQuad() [3/3]

template<typename Tp >

bezier::BezierQuad< Tp >::BezierQuad	(	const Vector3_t &	pt0,
		const Vector3_t &	ctrl,
		const Vector3_t &	pt1,
		Tp	duration = `1.0f`
	)

inline

Constructor from vector.

Definition at line 76 of file BezierQuad.hpp.

References bezier::BezierQuad< Tp >::getBezier().

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Member Function Documentation

◆ _getDistanceSquared()

template<typename Tp >

Tp bezier::BezierQuad< Tp >::_getDistanceSquared	(	const Tp	t,
		const Vector3_t &	pose
	)

private

Definition at line 204 of file BezierQuad.cpp.

◆ _goldenSectionSearch()

template<typename Tp >

Tp bezier::BezierQuad< Tp >::_goldenSectionSearch ( const Vector3_t & pose )

private

Definition at line 179 of file BezierQuad.cpp.

References bezier::RESOLUTION.

◆ getAcceleration()

template<typename Tp >

matrix::Vector< Tp, 3 > bezier::BezierQuad< Tp >::getAcceleration ( )

Definition at line 81 of file BezierQuad.cpp.

Referenced by bezier::BezierQuad< Tp >::setDuration().

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◆ getArcLength()

template<typename Tp >

Tp bezier::BezierQuad< Tp >::getArcLength ( const Tp resolution )

Definition at line 119 of file BezierQuad.cpp.

References matrix::Vector< Type, M >::length().

Referenced by BezierQuadTest::_get_arc_length(), and bezier::BezierQuad< Tp >::setDuration().

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◆ getBezier()

template<typename Tp >

void bezier::BezierQuad< Tp >::getBezier	(	Vector3_t &	pt0,
		Vector3_t &	ctrl,
		Vector3_t &	pt1
	)

Definition at line 59 of file BezierQuad.cpp.

Referenced by bezier::BezierQuad< Tp >::BezierQuad().

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◆ getCtrl()

template<typename Tp >

Vector3_t bezier::BezierQuad< Tp >::getCtrl ( )

inline

Definition at line 94 of file BezierQuad.hpp.

References bezier::BezierQuad< Tp >::_ctrl.

◆ getDistToClosestPoint()

template<typename Tp >

Tp bezier::BezierQuad< Tp >::getDistToClosestPoint ( const Vector3_t & pose )

Definition at line 168 of file BezierQuad.cpp.

Referenced by bezier::BezierQuad< Tp >::setDuration().

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◆ getPoint()

template<typename Tp >

matrix::Vector< Tp, 3 > bezier::BezierQuad< Tp >::getPoint ( const Tp t )

Return point on bezier point corresponding to time t.

Parameters

t	is a time in seconds in between [0, duration]

Returns: a point on bezier

Definition at line 67 of file BezierQuad.cpp.

Referenced by BezierQuadTest::_get_arc_length(), and bezier::BezierQuad< Tp >::setDuration().

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◆ getPt0()

template<typename Tp >

Vector3_t bezier::BezierQuad< Tp >::getPt0 ( )

inline

Definition at line 89 of file BezierQuad.hpp.

References bezier::BezierQuad< Tp >::_pt0.

◆ getPt1()

template<typename Tp >

Vector3_t bezier::BezierQuad< Tp >::getPt1 ( )

inline

Definition at line 99 of file BezierQuad.hpp.

References bezier::BezierQuad< Tp >::_pt1, and bezier::BezierQuad< Tp >::setBezier().

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◆ getStates()

template<typename Tp >

void bezier::BezierQuad< Tp >::getStates	(	Vector3_t &	point,
		Vector3_t &	vel,
		Vector3_t &	acc,
		const Tp	t
	)

Definition at line 87 of file BezierQuad.cpp.

Referenced by BezierQuadTest::_get_states_from_time(), and bezier::BezierQuad< Tp >::setDuration().

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◆ getStatesClosest()

template<typename Tp >

void bezier::BezierQuad< Tp >::getStatesClosest	(	Vector3_t &	point,
		Vector3_t &	vel,
		Vector3_t &	acc,
		const Vector3_t	pose
	)

Definition at line 95 of file BezierQuad.cpp.

Referenced by bezier::BezierQuad< Tp >::setDuration().

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◆ getVelocity()

template<typename Tp >

matrix::Vector< Tp, 3 > bezier::BezierQuad< Tp >::getVelocity ( const Tp t )

Definition at line 75 of file BezierQuad.cpp.

Referenced by BezierQuadTest::_set_bez_from_vel(), and bezier::BezierQuad< Tp >::setDuration().

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◆ setBezFromVel()

template<typename Tp >

void bezier::BezierQuad< Tp >::setBezFromVel	(	const Vector3_t &	ctrl,
		const Vector3_t &	vel0,
		const Vector3_t &	vel1,
		const Tp	duration = `(Tp)1`
	)

Definition at line 107 of file BezierQuad.cpp.

Referenced by BezierQuadTest::_set_bez_from_vel(), and bezier::BezierQuad< Tp >::setDuration().

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◆ setBezier()

template<typename Tp >

void bezier::BezierQuad< Tp >::setBezier	(	const Vector3_t &	pt0,
		const Vector3_t &	ctrl,
		const Vector3_t &	pt1,
		Tp	duration = `(Tp)1`
	)

Set new bezier points and duration.

Definition at line 48 of file BezierQuad.cpp.

Referenced by BezierQuadTest::_get_states_from_time(), and bezier::BezierQuad< Tp >::getPt1().

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◆ setDuration()

template<typename Tp >

void bezier::BezierQuad< Tp >::setDuration ( const Tp time )

inline

Definition at line 112 of file BezierQuad.hpp.

References bezier::BezierQuad< Tp >::_duration, bezier::BezierQuad< Tp >::getAcceleration(), bezier::BezierQuad< Tp >::getArcLength(), bezier::BezierQuad< Tp >::getDistToClosestPoint(), bezier::BezierQuad< Tp >::getPoint(), bezier::BezierQuad< Tp >::getStates(), bezier::BezierQuad< Tp >::getStatesClosest(), bezier::BezierQuad< Tp >::getVelocity(), and bezier::BezierQuad< Tp >::setBezFromVel().

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Member Data Documentation

◆ _cached_arc_length

template<typename Tp >

Tp bezier::BezierQuad< Tp >::_cached_arc_length = (Tp)0

private

The saved arc length of the spline.

Definition at line 185 of file BezierQuad.hpp.

◆ _cached_resolution

template<typename Tp >

Tp bezier::BezierQuad< Tp >::_cached_resolution = (Tp)(-1)

private

The resolution used to compute the arc length.

Negative number means that cache is not up to date.

Definition at line 186 of file BezierQuad.hpp.

◆ _ctrl

template<typename Tp >

Vector3_t bezier::BezierQuad< Tp >::_ctrl

private

Bezier control point.

Definition at line 181 of file BezierQuad.hpp.

Referenced by bezier::BezierQuad< Tp >::getCtrl().

◆ _duration

template<typename Tp >

Tp bezier::BezierQuad< Tp >::_duration = (Tp)1

private

Total time to travle along spline.

Definition at line 183 of file BezierQuad.hpp.

Referenced by bezier::BezierQuad< Tp >::setDuration().

◆ _pt0

template<typename Tp >

Vector3_t bezier::BezierQuad< Tp >::_pt0

private

Bezier starting point.

Definition at line 180 of file BezierQuad.hpp.

Referenced by bezier::BezierQuad< Tp >::getPt0().

◆ _pt1

template<typename Tp >

Vector3_t bezier::BezierQuad< Tp >::_pt1

private

bezier end point

Definition at line 182 of file BezierQuad.hpp.

Referenced by bezier::BezierQuad< Tp >::getPt1().

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

src/lib/bezier/BezierQuad.hpp
src/lib/bezier/BezierQuad.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

template<typename Tp> class bezier::BezierQuad< Tp >

Member Typedef Documentation

◆ Vector3_t

Constructor & Destructor Documentation

◆ BezierQuad() [1/3]

◆ BezierQuad() [2/3]

◆ BezierQuad() [3/3]

Member Function Documentation

◆ _getDistanceSquared()

◆ _goldenSectionSearch()

◆ getAcceleration()

◆ getArcLength()

◆ getBezier()

◆ getCtrl()

◆ getDistToClosestPoint()

◆ getPoint()

◆ getPt0()

◆ getPt1()

◆ getStates()

◆ getStatesClosest()

◆ getVelocity()

◆ setBezFromVel()

◆ setBezier()

◆ setDuration()

Member Data Documentation

◆ _cached_arc_length

◆ _cached_resolution

◆ _ctrl

◆ _duration

◆ _pt0

◆ _pt1

template<typename Tp>
class bezier::BezierQuad< Tp >