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 Type	GetClassType () const override
	Get the class type as an enum.

virtual int	Get_complexity () const override
	Tell the complexity.

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

virtual ChVector	Evaluate (double U) const override
	Return a point on the line, given parametric coordinate U (in [0,1]).

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 () const
	Get count of sub-lines that have been added.

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

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

void	SetSubLineDurationN (size_t n, double mduration)
	Set the nth sub-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 the specified index 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 the line at the 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 ChVector	GetTangent (double parU) const
	Return the tangent unit vector at the parametric coordinate U (in [0,1]). 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 ChAABB	GetBoundingBox () const
	Compute bounding box along the directions of the shape definition frame. More...

void	InflateBoundingBox (ChAABB &bbox) const
	Enlarge the given existing bounding box with the bounding box of this object.

virtual double	GetBoundingSphereRadius () const
	Returns the radius of a bounding sphere for this geometry. More...

virtual ChVector	Baricenter () const
	Compute center of mass.

virtual void	Update ()
	Generic update of internal data.

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	Type { NONE, SPHERE, ELLIPSOID, BOX, CYLINDER, TRIANGLE, CAPSULE, CONE, LINE, LINE_ARC, LINE_BEZIER, LINE_CAM, LINE_PATH, LINE_POLY, LINE_SEGMENT, ROUNDED_BOX, ROUNDED_CYLINDER, TRIANGLEMESH, TRIANGLEMESH_CONNECTED, TRIANGLEMESH_SOUP }
	Enumeration of geometric object types.

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 the line at the specified index n in line array.

Note that n cannot be higher than GetLineCount().

◆ 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 the specified index in line array.

Parameters

n	index in line array
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()

◆ GetContinuityMaxError()

◆ GetPathDuration()

◆ InsertSubLine() [1/2]

◆ InsertSubLine() [2/2]

◆ Length()

◆ SetPathDuration()