Description

Geometric object representing a NURBS spline.

#include <ChLineNurbs.h>

Inheritance diagram for chrono::ChLineNurbs:
Collaboration diagram for chrono::ChLineNurbs:

Public Member Functions

 ChLineNurbs ()
 Constructor. By default, a segment (order = 1, two points on X axis, at -1, +1)
 
 ChLineNurbs (int morder, std::vector< ChVector3d > &mpoints, ChVectorDynamic<> *mknots=0, ChVectorDynamic<> *weights=0)
 Constructor from a given array of control points. More...
 
 ChLineNurbs (const ChLineNurbs &source)
 
virtual ChLineNurbsClone () const override
 "Virtual" copy constructor (covariant return type).
 
virtual int GetComplexity () const override
 Tell the complexity.
 
virtual ChVector3d Evaluate (double U) const override
 Return a point on the line, given parametric coordinate U (in [0,1]).
 
virtual ChVector3d GetTangent (double parU) const override
 Return the tangent unit vector at the parametric coordinate U (in [0,1]).
 
double ComputeUfromKnotU (double u) const
 When using Evaluate() etc. More...
 
double ComputeKnotUfromU (double U) const
 When using Evaluate() etc. More...
 
std::vector< ChVector3d > & Points ()
 Access the points.
 
ChVectorDynamicWeights ()
 Access the weights.
 
ChVectorDynamicKnots ()
 Access the knots.
 
int GetOrder ()
 Get the order of spline.
 
virtual void Setup (int morder, std::vector< ChVector3d > &mpoints, ChVectorDynamic<> *mknots=0, ChVectorDynamic<> *weights=0)
 Initial easy setup from a given array of control points. More...
 
virtual void ArchiveOut (ChArchiveOut &archive_out) override
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &archive_in) override
 Method to allow de-serialization of transient data from archives.
 
- Public Member Functions inherited from chrono::ChLine
 ChLine (const ChLine &source)
 
virtual Type GetType () const override
 "Virtual" copy constructor (covariant return type). More...
 
virtual bool IsClosed () const
 Tell if the curve is closed.
 
virtual void SetClosed (bool mc)
 
virtual void SetComplexity (int mc)
 
virtual int GetManifoldDimension () const override
 This is a line.
 
bool FindNearestLinePoint (ChVector3d &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 ChVector3d GetEndA () const
 Return the start point of the line. More...
 
virtual ChVector3d 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...
 
double CurveSegmentDistMax (ChLine *complinesegm, int samples) const
 
- Public Member Functions inherited from chrono::ChGeometry
 ChGeometry (const ChGeometry &other)
 
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 ChVector3d Baricenter () const
 Compute center of mass.
 
virtual void Update ()
 Generic update of internal data.
 

Public Attributes

std::vector< ChVector3dpoints
 
ChVectorDynamic weights
 
ChVectorDynamic knots
 
int p
 

Additional Inherited Members

- Public Types inherited from chrono::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::ChLine
bool closed
 
int complexityU
 

Constructor & Destructor Documentation

◆ ChLineNurbs()

chrono::ChLineNurbs::ChLineNurbs ( int  morder,
std::vector< ChVector3d > &  mpoints,
ChVectorDynamic<> *  mknots = 0,
ChVectorDynamic<> *  weights = 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. 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.
weightsweights, size w. Required w=n. If not provided, all weights as 1.

Member Function Documentation

◆ ComputeKnotUfromU()

double chrono::ChLineNurbs::ComputeKnotUfromU ( double  U) const
inline

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:

◆ ComputeUfromKnotU()

double chrono::ChLineNurbs::ComputeUfromKnotU ( double  u) const
inline

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:

◆ Setup()

void chrono::ChLineNurbs::Setup ( int  morder,
std::vector< ChVector3d > &  mpoints,
ChVectorDynamic<> *  mknots = 0,
ChVectorDynamic<> *  weights = 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.
weightsweights, size w. Required w=n. If not provided, all weights as 1.

The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/geometry/ChLineNurbs.h
  • /builds/uwsbel/chrono/src/chrono/geometry/ChLineNurbs.cpp