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.

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 98 of file PointCurve.h.

◆ SegmentCallback

template<typename T >

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

Definition at line 96 of file PointCurve.h.

◆ SegmentPointCallback

template<typename T >

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

Definition at line 97 of file PointCurve.h.

◆ TransformCallback

template<typename T >

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

Definition at line 95 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 205 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 211 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 220 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 228 of file PointCurve.h.

◆ calculateLength()

template<typename T >

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

Returns: the total length of this curve

Definition at line 268 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 237 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 278 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 363 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.

◆ 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 298 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()

◆ transform()

◆ traverse() [1/2]

◆ traverse() [2/2]