# Curve3D

A curve in 3D defined by a curve in 2D and a height function. Furthermore, the curve can have a torsion, which is relevant for pose and transformation matrix calculations along the curve. See the wikipedia article on torsion of a curve.

#### Parameters

## Constructors

## Functions

Accepting function so that a geometry visitor can pass by.

Returns an Affine3D at the position along the curve curveRelativePoint.

Returns the end point in the global cartesian coordinate system that is located on this curve.

Returns a discretized curve as a LineString3D.

Returns the point in the global cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

Returns the point in the global cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system.

Returns a list of points on the curve with a step size of step.

Returns the point in the local cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

Returns a pose at the position along the curve curveRelativePoint.

Returns the start point in the global cartesian coordinate system that is located on this curve.

Transforms the curveRelativeLineSegment (relative to this curve) to a LineSegment3D in cartesian coordinates.

Transforms the curveRelativePoint (relative to this curve) to a Vector3D in cartesian coordinates.