chrono::geometry::ChLineBspline Class Reference

Description

Geometric object representing a Bspline spline.

#include <ChLineBspline.h>

Inheritance diagram for chrono::geometry::ChLineBspline:
Collaboration diagram for chrono::geometry::ChLineBspline:

Public Member Functions

 ChLineBspline ()
 Constructor. By default, a segment (order = 1, two points on X axis, at -1, +1)
 
 ChLineBspline (int morder, std::vector< ChVector<> > &mpoints, ChVectorDynamic<> *mknots=0)
 Constructor from a given array of control points. More...
 
 ChLineBspline (const ChLineBspline &source)
 
virtual ChLineBsplineClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual int Get_complexity () const override
 Tell the complexity.
 
virtual void Evaluate (ChVector<> &pos, const double parU) const override
 Evaluates a point on the line, given parametric coordinate U. More...
 
virtual void Derive (ChVector<> &dir, const double parU) const override
 Evaluates a tangent versor, given parametric coordinate. More...
 
double ComputeUfromKnotU (const double u) const
 When using Evaluate() etc. More...
 
double ComputeKnotUfromU (const double U) const
 When using Evaluate() etc. More...
 
std::vector< ChVector<> > & Points ()
 Access the points.
 
ChVectorDynamicKnots ()
 Access the knots.
 
int GetOrder ()
 Get the order of spline.
 
virtual void SetupData (int morder, std::vector< ChVector<> > &mpoints, ChVectorDynamic<> *mknots=0)
 Initial easy setup from a given array of control points. More...
 
virtual void ArchiveOUT (ChArchiveOut &marchive) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIN (ChArchiveIn &marchive) override
 Method to allow de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::geometry::ChLine
 ChLine (const ChLine &source)
 
virtual GeometryType GetClassType () const override
 "Virtual" copy constructor (covariant return type). More...
 
virtual bool Get_closed () const
 Tell if the curve is closed.
 
virtual void Set_closed (bool mc)
 
virtual void Set_complexity (int mc)
 
virtual int GetManifoldDimension () const override
 This is a line.
 
bool FindNearestLinePoint (ChVector<> &point, double &resU, double approxU, double tol) const
 Find the parameter resU for the nearest point on curve to "point".
 
virtual double Length (int sampling) const
 Returns curve length. Typical sampling 1..5 (1 already gives correct result with degree1 curves)
 
virtual ChVector GetEndA () const
 Return the start point of the line. More...
 
virtual ChVector GetEndB () const
 Return the end point of the line. More...
 
double CurveCurveDist (ChLine *compline, int samples) const
 Returns adimensional information on "how much" this curve is similar to another in its overall shape (does not matter parametrization or start point). More...
 
double CurveSegmentDist (ChLine *complinesegm, int samples) const
 Same as before, but returns "how near" is complinesegm to whatever segment of this line (does not matter the percentual of line). More...
 
double CurveCurveDistMax (ChLine *compline, int samples) const
 Same as above, but instead of making average of the distances, these functions return the maximum of the distances... More...
 
double CurveSegmentDistMax (ChLine *complinesegm, int samples) const
 
virtual bool DrawPostscript (ChFile_ps *mfle, int markpoints, int bezier_interpolate)
 Draw into the current graph viewport of a ChFile_ps file.
 
- Public Member Functions inherited from chrono::geometry::ChGeometry
 ChGeometry (const ChGeometry &source)
 
virtual void GetBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const
 Compute bounding box. More...
 
virtual void InflateBoundingBox (double &xmin, double &xmax, double &ymin, double &ymax, double &zmin, double &zmax, ChMatrix33<> *Rot=NULL) const
 Enlarge a previous existing bounding box. More...
 
virtual double Size () const
 Returns the radius of the sphere which can enclose the geometry.
 
virtual ChVector Baricenter () const
 Compute center of mass It should be overridden by inherited classes.
 
virtual void CovarianceMatrix (ChMatrix33<> &C) const
 Compute the 3x3 covariance matrix (only the diagonal and upper part) It should be overridden by inherited classes.
 
virtual void Update ()
 Generic update of internal data. More...
 

Public Attributes

std::vector< ChVector<> > points
 
ChVectorDynamic knots
 
int p
 

Additional Inherited Members

- Public Types inherited from chrono::geometry::ChGeometry
enum  GeometryType {
  NONE, SPHERE, BOX, CYLINDER,
  TRIANGLE, CAPSULE, CONE, LINE,
  LINE_ARC, LINE_BEZIER, LINE_CAM, LINE_PATH,
  LINE_POLY, LINE_SEGMENT, ROUNDED_BOX, ROUNDED_CYLINDER,
  ROUNDED_CONE, TRIANGLEMESH, TRIANGLEMESH_CONNECTED, TRIANGLEMESH_SOUP
}
 Enumeration of geometric objects.
 
- Protected Attributes inherited from chrono::geometry::ChLine
bool closed
 
int complexityU
 

Constructor & Destructor Documentation

chrono::geometry::ChLineBspline::ChLineBspline ( int  morder,
std::vector< ChVector<> > &  mpoints,
ChVectorDynamic<> *  mknots = 0 
)

Constructor from a given array of control points.

Input data is copied. If the knots are not provided, a uniformly spaced knot vector is made.

Parameters
morderorder p: 1= linear, 2=quadratic, etc.
mpointscontrol points, size n. Required: at least n >= p+1
mknotsknots, size k. Required k=n+p+1. If not provided, initialized to uniform.

Member Function Documentation

double chrono::geometry::ChLineBspline::ComputeKnotUfromU ( const double  U) const

When using Evaluate() etc.

you need U parameter to be in 0..1 range, but knot range is not necessarily in 0..1. So you can convert U->u, where u is in knot range, calling this:

double chrono::geometry::ChLineBspline::ComputeUfromKnotU ( const double  u) const

When using Evaluate() etc.

you need U parameter to be in 0..1 range, but knot range is not necessarily in 0..1. So you can convert u->U, where u is in knot range, calling this:

void chrono::geometry::ChLineBspline::Derive ( ChVector<> &  dir,
const double  parU 
) const
overridevirtual

Evaluates a tangent versor, given parametric coordinate.

Parameter U always work in 0..1 range. Computed value goes into the 'pos' reference.

Reimplemented from chrono::geometry::ChLine.

void chrono::geometry::ChLineBspline::Evaluate ( ChVector<> &  pos,
const double  parU 
) const
overridevirtual

Evaluates a point on the line, given parametric coordinate U.

Parameter U always work in 0..1 range, even if knots are not in 0..1 range. So if you want to use u' in knot range, use ComputeUfromKnotU(). Computed value goes into the 'pos' reference. It must be implemented by inherited classes.

Implements chrono::geometry::ChLine.

void chrono::geometry::ChLineBspline::SetupData ( int  morder,
std::vector< ChVector<> > &  mpoints,
ChVectorDynamic<> *  mknots = 0 
)
virtual

Initial easy setup from a given array of control points.

Input data is copied. If the knots are not provided, a uniformly spaced knot vector is made. If the weights are not provided, a constant weight vector is made.

Parameters
morderorder p: 1= linear, 2=quadratic, etc.
mpointscontrol points, size n. Required: at least n >= p+1
mknotsknots, size k. Required k=n+p+1. If not provided, initialized to uniform.