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::ChLinePath:

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Collaboration diagram for chrono::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	GetType () const override
	Get the class type as an enum.

virtual int	GetComplexity () const override
	Tell the complexity.

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

virtual ChVector3d	Evaluate (double U) const override
	Return a point on the line, given parametric coordinate U (in [0,1]).

virtual ChVector3d	GetEndA () const override
	Return the start point of the line.

virtual ChVector3d	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 &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 ChVector3d	GetTangent (double parU) const
	Return the tangent unit vector at the parametric coordinate U (in [0,1]). 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".

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< std::shared_ptr< ChLine > >	lines

std::vector< double >	end_times

std::vector< double >	durations

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

Member Function Documentation

◆ AddSubLine() [1/2]

void chrono::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::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::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::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::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::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::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::ChLinePath::Length ( int sampling ) const

overridevirtual

Return curve length.

Sampling does not matter.

Reimplemented from chrono::ChLine.

◆ SetPathDuration()

void chrono::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()