Description

Geometric object representing an sequence of other ChLine objects, The ChLine objects are assumed to be properly concatenated and to have C0 continuity.

#include <ChLinePath.h>

Inheritance diagram for chrono::geometry::ChLinePath:

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Collaboration diagram for chrono::geometry::ChLinePath:

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Public Member Functions
	ChLinePath (const ChLinePath &source)

virtual ChLinePath *	Clone () const override
	"Virtual" copy constructor (covariant return type).

virtual GeometryType	GetClassType () const override
	"Virtual" copy constructor (covariant return type). More...

virtual int	Get_complexity () const override
	Tell the complexity.

virtual double	Length (int sampling) const override
	Return curve length. More...

virtual void	Evaluate (ChVector<> &pos, const double parU) const override
	Curve evaluation (only parU is used, in 0..1 range)

virtual ChVector	GetEndA () const override
	Return the start point of the line.

virtual ChVector	GetEndB () const override
	Return the end point of the line.

size_t	GetSubLinesCount ()
	Get count of sub-lines that have been added:

std::shared_ptr< ChLine >	GetSubLineN (size_t n)
	Access the nth line.

double	GetSubLineDurationN (size_t n)
	Get the nth line duration.

void	SetSubLineDurationN (size_t n, double mduration)
	Set the nth line duration.

void	AddSubLine (std::shared_ptr< ChLine > mline, double duration=1)
	Queue a line (push it back to the array of lines) More...

void	AddSubLine (ChLine &mline, double duration=1)
	Queue a line (push it back to the array of lines) More...

void	InsertSubLine (size_t n, std::shared_ptr< ChLine > mline, double duration=1)
	Insert a line at a specified index n in line array. More...

void	InsertSubLine (size_t n, ChLine &mline, double duration=1)
	Insert a line at a specified index n in line array. More...

void	EraseSubLine (size_t n)
	Erase a line from a specified index n in line array. More...

double	GetPathDuration () const
	Tells the duration of the path, sum of the durations of all sub-lines. More...

void	SetPathDuration (double mUduration)
	Shrink or stretch all the durations of the sub-lines so that the total duration of the path is equal to a specified value. More...

double	GetContinuityMaxError () const
	Check if the path is topologically connected, i.e. 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 void	Derive (ChVector<> &dir, const double parU) const
	Evaluates a tangent versor, given parametric coordinate. 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".

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...

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=nullptr) 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< std::shared_ptr< ChLine > >	lines

std::vector< double >	end_times

std::vector< double >	durations

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

Member Function Documentation

◆ AddSubLine() [1/2]

void chrono::geometry::ChLinePath::AddSubLine	(	ChLine &	mline,
		double	duration = `1`
	)

Queue a line (push it back to the array of lines)

Parameters

mline	line to add
duration	duration of the abscyssa when calling the Evaluate() function

◆ AddSubLine() [2/2]

void chrono::geometry::ChLinePath::AddSubLine	(	std::shared_ptr< ChLine >	mline,
		double	duration = `1`
	)

Queue a line (push it back to the array of lines)

Parameters

mline	line to add
duration	duration of the abscyssa when calling the Evaluate() function

◆ EraseSubLine()

void chrono::geometry::ChLinePath::EraseSubLine ( size_t n )

Erase a line from a specified index n in line array.

Note that n cannot be higher than GetLineCount().

◆ GetClassType()

virtual GeometryType chrono::geometry::ChLinePath::GetClassType ( ) const

inlineoverridevirtual

"Virtual" copy constructor (covariant return type).

Get the class type as unique numerical ID (faster than using ChronoRTTI mechanism). Each inherited class must return an unique ID.

Reimplemented from chrono::geometry::ChLine.

◆ GetContinuityMaxError()

double chrono::geometry::ChLinePath::GetContinuityMaxError ( ) const

Check if the path is topologically connected, i.e.

if all the sub lines are queued to have C0 continuity

◆ GetPathDuration()

double chrono::geometry::ChLinePath::GetPathDuration ( ) const

Tells the duration of the path, sum of the durations of all sub-lines.

This is useful because ifyou use the Evaluate() function on the path, the U parameter should range between 0 and the max duration.

◆ InsertSubLine() [1/2]

void chrono::geometry::ChLinePath::InsertSubLine	(	size_t	n,
		ChLine &	mline,
		double	duration = `1`
	)

Insert a line at a specified index n in line array.

Note that n cannot be higher than GetLineCount().

Parameters

n	index of line, 0 is first, etc.
mline	line to add
duration	duration of the abscyssa when calling the Evaluate() function

◆ InsertSubLine() [2/2]

void chrono::geometry::ChLinePath::InsertSubLine	(	size_t	n,
		std::shared_ptr< ChLine >	mline,
		double	duration = `1`
	)

Insert a line at a specified index n in line array.

Note that n cannot be higher than GetLineCount().

Parameters

n	index of line, 0 is first, etc.
mline	line to add
duration	duration of the abscyssa when calling the Evaluate() function

◆ Length()

double chrono::geometry::ChLinePath::Length ( int sampling ) const

overridevirtual

Return curve length.

Sampling does not matter.

Reimplemented from chrono::geometry::ChLine.

◆ SetPathDuration()

void chrono::geometry::ChLinePath::SetPathDuration ( double mUduration )

Shrink or stretch all the durations of the sub-lines so that the total duration of the path is equal to a specified value.

For example, you can normalize to 1 so you can use Evaluate() with U in the 0..1 range like with other lines.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono/geometry/ChLinePath.h
/builds/uwsbel/chrono/src/chrono/geometry/ChLinePath.cpp

Description

Public Member Functions

Public Attributes

Additional Inherited Members

Member Function Documentation

◆ AddSubLine() [1/2]

◆ AddSubLine() [2/2]

◆ EraseSubLine()

◆ GetClassType()

◆ GetContinuityMaxError()

◆ GetPathDuration()

◆ InsertSubLine() [1/2]

◆ InsertSubLine() [2/2]

◆ Length()

◆ SetPathDuration()