rtron-math/io.rtron.math.geometry.euclidean.twod.curve/ParameterTransformedCurve2D

ParameterTransformedCurve2D

data class ParameterTransformedCurve2D(baseCurve: AbstractCurve2D, transformationFunction: (CurveRelativeVector1D) -> CurveRelativeVector1D, val domain: Range<Double>) : AbstractCurve2D

Transforms the parameter (curveRelativePoint) by means of the transformationFunction function, before calculating the cartesian coordinates of the baseCurve.

The parameters of a curve can e.g. be normalized (domain: 0.0, 1.0) or reflect the actual curve length (domain: 0.0, length). To harmonise these differences, this class allows to rescale the parameters of an AbstractCurve2D.

Parameters

baseCurve

base curve which parameter is to be transformed

transformationFunction

function which is applied to the provided parameter

Constructors

ParameterTransformedCurve2D

constructor(baseCurve: AbstractCurve2D, transformationFunction: (CurveRelativeVector1D) -> CurveRelativeVector1D, domain: Range<Double>)

Properties

affineSequence

open val affineSequence: AffineSequence2D

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

domain

open override val domain: Range<Double>

definable domain

endBoundType

val endBoundType: BoundType

BoundType at the end of the curve

length

val length: Double

length of the curve

tolerance

open override val tolerance: Double

tolerable threshold value

Functions

calculatePointGlobalCS

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.

calculatePointGlobalCSUnbounded

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.

calculatePointLocalCS

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.

calculatePoseGlobalCS

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

Returns a pose at the position along the curve curveRelativePoint.

calculatePoseGlobalCSUnbounded

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.

calculateRotationGlobalCS

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.

calculateRotationGlobalCSUnbounded

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.

calculateRotationLocalCS

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.