rtron-math/io.rtron.math.geometry.euclidean.twod.curve/AbstractCurve2D

AbstractCurve2D

abstract class AbstractCurve2D : AbstractGeometry2D, DefinableDomain<Double> , Tolerable

Abstract class for all geometric curve objects in 2D.

Inheritors

Constructors

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constructor()

Properties

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open val affineSequence: AffineSequence2D

List of affine transformation matrices to move and rotate the geometric object.

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abstract val domain: Range<Double>

definable domain

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val endBoundType: BoundType

BoundType at the end of the curve

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val length: Double

length of the curve

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abstract val tolerance: Double

tolerable threshold value

Functions

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fun calculatePointGlobalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Vector2D>

Returns the global 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.

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fun calculatePointGlobalCSUnbounded(curveRelativePoint: CurveRelativeVector1D): Vector2D

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

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fun calculatePointLocalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Vector2D>

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.

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fun calculatePoseGlobalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Pose2D>

Returns a pose at the position along the curve curveRelativePoint.

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fun calculatePoseGlobalCSUnbounded(curveRelativePoint: CurveRelativeVector1D): Pose2D

Returns a pose at the position along the curve curveRelativePoint. An error is returned, if the requested point is not within this curve's domain.

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fun calculateRotationGlobalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Rotation2D>

Returns the orientation in the global cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system.

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fun calculateRotationGlobalCSUnbounded(curveRelativePoint: CurveRelativeVector1D): Rotation2D

Returns the orientation in the global cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

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fun calculateRotationLocalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Rotation2D>

Returns the orientation in the local cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.