math::geometry::CatmullRomSpline Class Reference

#include <catmull_rom_spline.hpp>

Inheritance diagram for math::geometry::CatmullRomSpline:

Collaboration diagram for math::geometry::CatmullRomSpline:

Public Member Functions
	CatmullRomSpline ()=default
	CatmullRomSpline (const std::vector< geometry_msgs::msg::Point > &control_points)
auto	getLength () const -> double override
auto	getMaximum2DCurvature () const -> double
auto	getPoint (const double s) const -> geometry_msgs::msg::Point
auto	getPoint (const double s, const double offset) const -> geometry_msgs::msg::Point
auto	getTangentVector (const double s) const -> geometry_msgs::msg::Vector3
auto	getNormalVector (const double s) const -> geometry_msgs::msg::Vector3
auto	getPose (const double s, const bool fill_pitch=true) const -> geometry_msgs::msg::Pose
auto	getTrajectory (const double start_s, const double end_s, const double resolution, const double offset=0.0) const -> std::vector< geometry_msgs::msg::Point >
auto	getSValue (const geometry_msgs::msg::Pose &pose, double threshold_distance=3.0) const -> std::optional< double >
auto	getSquaredDistanceIn2D (const geometry_msgs::msg::Point &point, const double s) const -> double override
auto	getSquaredDistanceVector (const geometry_msgs::msg::Point &point, const double s) const -> geometry_msgs::msg::Vector3
auto	getCollisionPointsIn2D (const std::vector< geometry_msgs::msg::Point > &polygon, const bool search_backward=false, const std::optional< std::pair< double, double >> &s_range=std::nullopt) const -> std::set< double >
auto	getCollisionPointIn2D (const geometry_msgs::msg::Point &point0, const geometry_msgs::msg::Point &point1, const bool search_backward=false) const -> std::optional< double >
auto	getCollisionPointIn2D (const std::vector< geometry_msgs::msg::Point > &polygon, const bool search_backward=false, const std::optional< std::pair< double, double >> &s_range=std::nullopt) const -> std::optional< double > override
	Get collision point in 2D (x and y) More...
auto	getPolygon (const double width, const size_t num_points=30, const double z_offset=0) -> std::vector< geometry_msgs::msg::Point >
virtual	~CatmullRomSpline ()=default
Public Member Functions inherited from math::geometry::CatmullRomSplineInterface
virtual	~CatmullRomSplineInterface ()=default

Public Attributes
const std::vector< geometry_msgs::msg::Point >	control_points

Constructor & Destructor Documentation

CatmullRomSpline() [1/2]

math::geometry::CatmullRomSpline::CatmullRomSpline ( )

default

CatmullRomSpline() [2/2]

math::geometry::CatmullRomSpline::CatmullRomSpline ( const std::vector< geometry_msgs::msg::Point > &  control_points )

explicit

Note

In this case, spline is interpreted as point.

In this case, spline is interpreted as line segment.

In this case, spline is interpreted as curve.

~CatmullRomSpline()

virtual math::geometry::CatmullRomSpline::~CatmullRomSpline ( )

virtualdefault

Member Function Documentation

getCollisionPointIn2D() [1/2]

auto math::geometry::CatmullRomSpline::getCollisionPointIn2D	(	const geometry_msgs::msg::Point &	point0,
		const geometry_msgs::msg::Point &	point1,
		const bool	search_backward = false
	)		const -> std::optional<double>

getCollisionPointIn2D() [2/2]

auto math::geometry::CatmullRomSpline::getCollisionPointIn2D ( const std::vector< geometry_msgs::msg::Point > &  polygon, const bool  search_backward = false, const std::optional< std::pair< double, double >> &  s_range = std::nullopt  ) const -> std::optional<double>

overridevirtual

Get collision point in 2D (x and y)

Parameters

polygon	points of polygons.
search_backward	If true, return collision points with maximum s value. If false, return collision points with minimum s value.

Returns

std::optional<double> Denormalized s values along the frenet coordinate of the spline curve.

Implements math::geometry::CatmullRomSplineInterface.

getCollisionPointsIn2D()

auto math::geometry::CatmullRomSpline::getCollisionPointsIn2D	(	const std::vector< geometry_msgs::msg::Point > &	polygon,
		const bool	search_backward = false,
		const std::optional< std::pair< double, double >> &	s_range = std::nullopt
	)		const -> std::set<double>

Note

If the spline has three or more control points.

The local_polygon is assumed to be closed

If the spline has two control points. (Same as single line segment.)

If the spline has one control point. (Same as point.)

In this case, spline is interpreted as point.

In this case, spline is interpreted as line segment.

In this case, spline is interpreted as curve.

getLength()

auto math::geometry::CatmullRomSpline::getLength ( ) const -> double

inlineoverridevirtual

Implements math::geometry::CatmullRomSplineInterface.

getMaximum2DCurvature()

auto math::geometry::CatmullRomSpline::getMaximum2DCurvature

(

)

const -> double

getNormalVector()

auto math::geometry::CatmullRomSpline::getNormalVector

(

const double

s

)

const -> geometry_msgs::msg::Vector3

getPoint() [1/2]

auto math::geometry::CatmullRomSpline::getPoint

(

const double

s

)

const -> geometry_msgs::msg::Point

getPoint() [2/2]

auto math::geometry::CatmullRomSpline::getPoint	(	const double	s,
		const double	offset
	)		const -> geometry_msgs::msg::Point

getPolygon()

auto math::geometry::CatmullRomSpline::getPolygon	(	const double	width,
		const size_t	num_points = 30,
		const double	z_offset = 0
	)		-> std::vector<geometry_msgs::msg::Point>

getPose()

auto math::geometry::CatmullRomSpline::getPose	(	const double	s,
		const bool	fill_pitch = true
	)		const -> geometry_msgs::msg::Pose

getSquaredDistanceIn2D()

auto math::geometry::CatmullRomSpline::getSquaredDistanceIn2D ( const geometry_msgs::msg::Point &  point, const double  s  ) const -> double

overridevirtual

Implements math::geometry::CatmullRomSplineInterface.

getSquaredDistanceVector()

auto math::geometry::CatmullRomSpline::getSquaredDistanceVector	(	const geometry_msgs::msg::Point &	point,
		const double	s
	)		const -> geometry_msgs::msg::Vector3

getSValue()

auto math::geometry::CatmullRomSpline::getSValue	(	const geometry_msgs::msg::Pose &	pose,
		double	threshold_distance = 3.0
	)		const -> std::optional<double>

getTangentVector()

auto math::geometry::CatmullRomSpline::getTangentVector

(

const double

s

)

const -> geometry_msgs::msg::Vector3

Note

The current implementation uses index_and_s instead of structured binding (const auto [index, s_value] = getCurveIndexAndS(s)) because some tests fail when using structured binding. The root cause of these test failures is under investigation.

getTrajectory()

auto math::geometry::CatmullRomSpline::getTrajectory	(	const double	start_s,
		const double	end_s,
		const double	resolution,
		const double	offset = 0.0
	)		const -> std::vector<geometry_msgs::msg::Point>

Member Data Documentation

control_points

const std::vector<geometry_msgs::msg::Point> math::geometry::CatmullRomSpline::control_points

---

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

• common/math/geometry/include/geometry/spline/catmull_rom_spline.hpp
• common/math/geometry/src/spline/catmull_rom_spline.cpp