# AbstractCurve2D

Abstract class for all geometric curve objects in 2D.

## Constructors

## Functions

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.

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.

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

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.

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.

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.