rtron-math/io.rtron.math.geometry.euclidean.twod.curve/Spiral2D

Spiral2D

data class Spiral2D(val cDot: Double)

Represents a spiral of the form: x(l) = A * sqrt(pi) * int_0^l cos( (pit^2) / 2 ) dt y(l) = A * sqrt(pi) * int_0^l sin( (pit^2) / 2 ) dt Asymptotic points at (Asqrt(pi)/2, Asqrt(pi)/2) and (-Asqrt(pi)/2, -Asqrt(pi)/2).

Parameters

cDot

first derivative of curvature

Constructors

Spiral2D

constructor(cDot: Double)

Properties

cDot

val cDot: Double

constantA

val constantA: Double

constantAuxiliaryA

val constantAuxiliaryA: Double

Functions

calculateCurvature

fun calculateCurvature(l: Double): Double

Returns the curvature at the spiral position l.

calculatePoint

fun calculatePoint(l: Double): Vector2D

Returns a point in cartesian coordinates at the spiral position l. The point is calculated by using a Fresnel integral implementation.

calculatePose

fun calculatePose(l: Double): Pose2D

Returns the pose at the spiral position l.

calculateRotation

fun calculateRotation(l: Double): Rotation2D

Returns the rotation of the tangent at the spiral position l.