scenario_simulator_v2 C++ API
Public Member Functions | Public Attributes | List of all members
math::geometry::CatmullRomSpline Class Reference

#include <catmull_rom_spline.hpp>

Inheritance diagram for math::geometry::CatmullRomSpline:
Inheritance graph
[legend]
Collaboration diagram for math::geometry::CatmullRomSpline:
Collaboration graph
[legend]

Public Member Functions

 CatmullRomSpline ()=default
 
 CatmullRomSpline (const std::vector< geometry_msgs::msg::Point > &control_points)
 
 CatmullRomSpline (const geometry_msgs::msg::Point &start_point, const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &trajectory)
 
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 getTrajectoryPoses (const double start_s, const double end_s, const double resolution) const -> std::vector< geometry_msgs::msg::Pose >
 
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() [1/3]

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

◆ CatmullRomSpline() [2/3]

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() [3/3]

math::geometry::CatmullRomSpline::CatmullRomSpline ( const geometry_msgs::msg::Point &  start_point,
const std::shared_ptr< traffic_simulator_msgs::msg::PolylineTrajectory > &  trajectory 
)
explicit

◆ ~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
polygonpoints of polygons.
search_backwardIf 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
Note
Maximum 2D curvature is empty means that it is not calculated yet.

◆ 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>

◆ getTrajectoryPoses()

auto math::geometry::CatmullRomSpline::getTrajectoryPoses ( const double  start_s,
const double  end_s,
const double  resolution 
) const -> std::vector<geometry_msgs::msg::Pose>

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:
Generated by doxygen 1.9.1