SpiralSegment2D

class SpiralSegment2D(curvatureFunction: LinearFunction, val tolerance: Double, val affineSequence: AffineSequence2D = AffineSequence2D.EMPTY, endBoundType: BoundType = BoundType.OPEN) : AbstractCurve2D

Spiral curve segment within a defined domain that is given by the curvatureFunction. See wikipedia article on Euler spiral.

Parameters

curvatureFunction

describes the curvature as a function of the curvePosition

endBoundType

bound type of the curve segment's end

Constructors

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constructor(curvatureFunction: LinearFunction, tolerance: Double, affineSequence: AffineSequence2D = AffineSequence2D.EMPTY, endBoundType: BoundType = BoundType.OPEN)

Properties

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open override val affineSequence: AffineSequence2D

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

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open override val domain: Range<Double>

definable domain

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BoundType at the end of the curve

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length of the curve

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open override val tolerance: Double

tolerable threshold value

Functions

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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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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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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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Returns a pose at the position along the curve curveRelativePoint.

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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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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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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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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.