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gazebo::math::Spline Class Reference

Splines. More...

#include <math/gzmath.hh>

Collaboration diagram for gazebo::math::Spline:
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Public Member Functions

 Spline ()
 constructor More...
 
 ~Spline ()
 destructor More...
 
void AddPoint (const Vector3 &_pt)
 Adds a control point to the end of the spline. More...
 
void Clear ()
 Clears all the points in the spline. More...
 
Vector3 GetPoint (unsigned int _index) const
 Gets the detail of one of the control points of the spline. More...
 
unsigned int GetPointCount () const
 Gets the number of control points in the spline. More...
 
Vector3 GetTangent (unsigned int _index) const
 Get the tangent value for a point. More...
 
double GetTension () const
 Get the tension value. More...
 
Vector3 Interpolate (double _t) const
 Returns an interpolated point based on a parametric value over the whole series. More...
 
Vector3 Interpolate (unsigned int _fromIndex, double _t) const
 Interpolates a single segment of the spline given a parametric value. More...
 
void RecalcTangents ()
 Recalculates the tangents associated with this spline. More...
 
void SetAutoCalculate (bool _autoCalc)
 Tells the spline whether it should automatically calculate tangents on demand as points are added. More...
 
void SetTension (double _t)
 Set the tension parameter. More...
 
void UpdatePoint (unsigned int _index, const Vector3 &_value)
 Updates a single point in the spline. More...
 

Protected Attributes

bool autoCalc
 when true, the tangents are recalculated when the control point change More...
 
Matrix4 coeffs
 Matrix of coefficients. More...
 
std::vector< Vector3points
 control points More...
 
std::vector< Vector3tangents
 tangents More...
 
double tension
 Tension of 0 = Catmull-Rom spline, otherwise a Cardinal spline. More...
 

Detailed Description

Splines.

Constructor & Destructor Documentation

gazebo::math::Spline::Spline ( )

constructor

gazebo::math::Spline::~Spline ( )

destructor

Member Function Documentation

void gazebo::math::Spline::AddPoint ( const Vector3 _pt)

Adds a control point to the end of the spline.

Parameters
[in]_ptpoint to add
void gazebo::math::Spline::Clear ( )

Clears all the points in the spline.

Vector3 gazebo::math::Spline::GetPoint ( unsigned int  _index) const

Gets the detail of one of the control points of the spline.

Parameters
[in]_indexthe control point index
Returns
the control point, or [0,0,0] and a message on the error stream
unsigned int gazebo::math::Spline::GetPointCount ( ) const

Gets the number of control points in the spline.

Returns
the count
Vector3 gazebo::math::Spline::GetTangent ( unsigned int  _index) const

Get the tangent value for a point.

Parameters
[in]_indexthe control point index
double gazebo::math::Spline::GetTension ( ) const

Get the tension value.

Returns
The value of the tension, which is between 0.0 and 1.0
Vector3 gazebo::math::Spline::Interpolate ( double  _t) const

Returns an interpolated point based on a parametric value over the whole series.

Parameters
[in]_tparameter (range 0 to 1)
Vector3 gazebo::math::Spline::Interpolate ( unsigned int  _fromIndex,
double  _t 
) const

Interpolates a single segment of the spline given a parametric value.

Parameters
[in]_fromIndexThe point index to treat as t = 0. fromIndex + 1 is deemed to be t = 1
[in]_tParametric value
void gazebo::math::Spline::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.
void gazebo::math::Spline::SetAutoCalculate ( 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 reclacTangents to recalculate them when it best suits.
void gazebo::math::Spline::SetTension ( double  _t)

Set the tension parameter.

A value of 0 = Catmull-Rom spline.

Parameters
[in]_tTension value between 0.0 and 1.0
void gazebo::math::Spline::UpdatePoint ( unsigned int  _index,
const Vector3 _value 
)

Updates a single point in the spline.

Remarks
an error to the error stream is printed when the index is out of bounds
Parameters
[in]_indexthe control point index
[in]_valuethe new position

Member Data Documentation

bool gazebo::math::Spline::autoCalc
protected

when true, the tangents are recalculated when the control point change

Matrix4 gazebo::math::Spline::coeffs
protected

Matrix of coefficients.

std::vector<Vector3> gazebo::math::Spline::points
protected

control points

std::vector<Vector3> gazebo::math::Spline::tangents
protected

tangents

double gazebo::math::Spline::tension
protected

Tension of 0 = Catmull-Rom spline, otherwise a Cardinal spline.


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