Utility class curve defined by a set of points. More...

#include <PointCurve.h>

Classes
struct	Segment
	Segment data with begin and end point. More...

struct	SegmentationResult
	Result data of segmentation, PointCurve::findSegmentLength. More...

struct	SegmentPoint
	Segment point with current curve segment and a point on that segment with local and global time. More...

Public Types
using	container_type = agx::Vector< value_type >

using	SegmentationErrorCallback = std::function< agx::Real(const PointCurve &, const SegmentPoint &, const SegmentPoint &, SegmentType)>

using	SegmentCallback = std::function< void(const Segment &, SegmentType)>

using	SegmentPointCallback = std::function< void(const SegmentPoint &, const SegmentPoint &, SegmentType)>

using	TransformCallback = std::function< void(value_type &)>

using	value_type = T

Public Member Functions
	PointCurve ()
	Default constructor.

template<typename ContainerT >
	PointCurve (const ContainerT &container)
	Construct given any container.

template<typename ContainerT , typename TransformFunc >
	PointCurve (const ContainerT &container, TransformFunc func)
	Construct given any container and a transform function.

template<typename T2 >
void	add (const T2 &point)
	Add new point to this curve.

agx::Real	calculateLength () const

SegmentPoint	evaluate (agx::Real time) const
	Evaluate at given time.

agx::Bool	finalize ()
	When all points has been added this method has to be called to collect curve data for efficient manipulation/evaluation.

SegmentationResult	findSegmentLength (agx::UInt numSegments, SegmentationErrorCallback errorFunction, agx::Real maxError, agx::Real segmentLengthTolerance=agx::Real(1.0E-6), agx::UInt maxNumIterations=100ul) const
	Uses Newton Raphson to minimize the error while dividing this curve into segments.

const container_type &	getPoints () const

void	reserve (size_t capacity)
	Reserves containers to given `capacity`.

void	transform (TransformCallback callback)
	Transform points in this curve.

void	traverse (SegmentCallback callback) const
	Traverse all segments.

void	traverse (SegmentPointCallback callback, agx::Real segmentLength, agx::Real tolerance=agx::Real(1.0E-6)) const
	Traverses this curve and invokes callback with a segment of a given segment length.

Detailed Description

template<typename T>
class agxUtil::PointCurve< T >

Utility class curve defined by a set of points.

It's possible to iterate this curve point and segment wise. Main purpose is to be able to traverse this curve with a given segment length. It's also possible to find optimal segment length given desired number of segments.

Definition at line 41 of file PointCurve.h.

Member Typedef Documentation

◆ container_type

template<typename T >

using agxUtil::PointCurve< T >::container_type = agx::Vector<value_type>

Definition at line 45 of file PointCurve.h.

◆ SegmentationErrorCallback

template<typename T >

using agxUtil::PointCurve< T >::SegmentationErrorCallback = std::function<agx::Real( const PointCurve&, const SegmentPoint&, const SegmentPoint&, SegmentType )>

Definition at line 103 of file PointCurve.h.

◆ SegmentCallback

template<typename T >

using agxUtil::PointCurve< T >::SegmentCallback = std::function<void( const Segment&, SegmentType )>

Definition at line 101 of file PointCurve.h.

◆ SegmentPointCallback

template<typename T >

using agxUtil::PointCurve< T >::SegmentPointCallback = std::function<void( const SegmentPoint&, const SegmentPoint&, SegmentType )>

Definition at line 102 of file PointCurve.h.

◆ TransformCallback

template<typename T >

using agxUtil::PointCurve< T >::TransformCallback = std::function<void( value_type& )>

Definition at line 100 of file PointCurve.h.

◆ value_type

template<typename T >

using agxUtil::PointCurve< T >::value_type = T

Definition at line 44 of file PointCurve.h.

Constructor & Destructor Documentation

◆ PointCurve() [1/3]

template<typename T >

agxUtil::PointCurve< T >::PointCurve

Default constructor.

Definition at line 221 of file PointCurve.h.

◆ PointCurve() [2/3]

template<typename T >

template<typename ContainerT >

agxUtil::PointCurve< T >::PointCurve ( const ContainerT & container )

Construct given any container.

The ContainerT::value_type must support cast to agx::Vec3.

Parameters

container - container with points

Definition at line 227 of file PointCurve.h.

◆ PointCurve() [3/3]

template<typename T >

template<typename ContainerT , typename TransformFunc >

agxUtil::PointCurve< T >::PointCurve	(	const ContainerT &	container,
		TransformFunc	func
	)

Construct given any container and a transform function.

The transform function transforms each ContainerT::value_type to this::value_type.

Parameters

container	- container with points
func	- transform function

Definition at line 236 of file PointCurve.h.

Member Function Documentation

◆ add()

template<typename T >

template<typename T2 >

void agxUtil::PointCurve< T >::add ( const T2 & point )

Add new point to this curve.

Note: PointCurve::finalize has to be called when all additional points has been added.

Parameters

point - point to add

Definition at line 256 of file PointCurve.h.

◆ calculateLength()

template<typename T >

agx::Real agxUtil::PointCurve< T >::calculateLength

Returns: the total length of this curve

Definition at line 296 of file PointCurve.h.

◆ evaluate()

template<typename T >

PointCurve< T >::SegmentPoint agxUtil::PointCurve< T >::evaluate ( agx::Real time ) const

Evaluate at given time.

Time = 0 is the first point and time = 1 the last. If time < 0 or time > 1 the point is interpolated from the first or the last segment.

Parameters

time	- time along this curve

Returns: segment point data

Definition at line 265 of file PointCurve.h.

References LOGGER_ENDL, and LOGGER_WARNING.

◆ finalize()

template<typename T >

agx::Bool agxUtil::PointCurve< T >::finalize

When all points has been added this method has to be called to collect curve data for efficient manipulation/evaluation.

Returns: true if successfully initialized

Definition at line 306 of file PointCurve.h.

References agx::RealEpsilon.

◆ findSegmentLength()

template<typename T >

PointCurve< T >::SegmentationResult agxUtil::PointCurve< T >::findSegmentLength	(	agx::UInt	numSegments,
		SegmentationErrorCallback	errorFunction,
		agx::Real	maxError,
		agx::Real	segmentLengthTolerance = `agx::Real( 1.0E-6 )`,
		agx::UInt	maxNumIterations = `100ul`
	)		const

Uses Newton Raphson to minimize the error while dividing this curve into segments.

Parameters

numSegments	- number of segments to divide this curve into
errorFunction	- function which returns the error of each segment
maxError	- algorithm is successful when the absolute value of the sum over errorFunction of all segments is less than this value
segmentLengthTolerance	- segment length tolerance
maxNumIterations	- maximum number of iterations before exiting

Returns: the resulting segment length with minimum error

Definition at line 391 of file PointCurve.h.

References agxUtil::PointCurve< T >::SegmentationResult::error, agxUtil::PointCurve< T >::SegmentationResult::numIterations, agxUtil::PointCurve< T >::SegmentationResult::numSegments, agx::REAL_SQRT_EPSILON, agx::RealEpsilon, and agxUtil::PointCurve< T >::SegmentationResult::segmentLength.

◆ getPoints()

template<typename T >

const PointCurve< T >::container_type & agxUtil::PointCurve< T >::getPoints

Returns: the points container

Definition at line 249 of file PointCurve.h.

◆ reserve()

template<typename T >

void agxUtil::PointCurve< T >::reserve ( size_t capacity )

Reserves containers to given capacity.

Parameters

capacity - new capacity of the internal containers

Definition at line 243 of file PointCurve.h.

◆ transform()

template<typename T >

void agxUtil::PointCurve< T >::transform ( TransformCallback callback )

Transform points in this curve.

Finalize will be executed after all points has been transformed.

Definition at line 326 of file PointCurve.h.

◆ traverse() [1/2]

template<typename T >

void agxUtil::PointCurve< T >::traverse ( SegmentCallback callback ) const

Traverse all segments.

Parameters

callback - function to call for each segment

◆ traverse() [2/2]

template<typename T >

void agxUtil::PointCurve< T >::traverse	(	SegmentPointCallback	callback,
		agx::Real	segmentLength,
		agx::Real	tolerance = `agx::Real(1.0E-6)`
	)		const

Traverses this curve and invokes callback with a segment of a given segment length.

Note that the curve might be longer or shorter at the end.

Parameters

callback	- callback with two SegmentPoint defining a segment of length `segmentLength`
segmentLength	- Length of the segment
tolerance	- segment length tolerance

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

PointCurve.h

Classes

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ container_type

◆ SegmentationErrorCallback

◆ SegmentCallback

◆ SegmentPointCallback

◆ TransformCallback

◆ value_type

Constructor & Destructor Documentation

◆ PointCurve() [1/3]

◆ PointCurve() [2/3]

◆ PointCurve() [3/3]

Member Function Documentation

◆ add()

◆ calculateLength()

◆ evaluate()

◆ finalize()

◆ findSegmentLength()

◆ getPoints()

◆ reserve()

◆ transform()

◆ traverse() [1/2]

◆ traverse() [2/2]