math::geometry::CatmullRomSubspline Class Reference

#include <catmull_rom_subspline.hpp>

Inheritance diagram for math::geometry::CatmullRomSubspline:

Collaboration diagram for math::geometry::CatmullRomSubspline:

Public Member Functions
	CatmullRomSubspline (std::shared_ptr< math::geometry::CatmullRomSpline > spline, const double start_s, const double end_s)
double	getLength () const override
std::optional< double >	getCollisionPointIn2D (const std::vector< geometry_msgs::msg::Point > &polygon, const bool search_backward=false) const override

Constructor & Destructor Documentation

CatmullRomSubspline()

math::geometry::CatmullRomSubspline::CatmullRomSubspline ( std::shared_ptr< math::geometry::CatmullRomSpline >  spline, const double  start_s, const double  end_s  )

inlineexplicit

Member Function Documentation

getCollisionPointIn2D()

std::optional< double > math::geometry::CatmullRomSubspline::getCollisionPointIn2D ( const std::vector< geometry_msgs::msg::Point > &  polygon, const bool  search_backward = false  ) const

overridevirtual

Note

Make sure end is greater than start, otherwise the spline is invalid

Iterators for the range of this subspline

If begin == end there is no collision in the given range, or it is past the range If begin == s_value_candidates.end() all elements are less than start_s_ end == s_value_candidates.end() is valid, all elements are less than end_s_

Implements math::geometry::CatmullRomSplineInterface.

getLength()

double math::geometry::CatmullRomSubspline::getLength ( ) const

overridevirtual

Implements math::geometry::CatmullRomSplineInterface.

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

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