math::geometry::HermiteCurve Class Reference

#include <hermite_curve.hpp>

Public Member Functions
	HermiteCurve (const geometry_msgs::msg::Pose &start_pose, const geometry_msgs::msg::Pose &goal_pose, const geometry_msgs::msg::Vector3 &start_vec, const geometry_msgs::msg::Vector3 &goal_vec)
	HermiteCurve (double ax, double bx, double cx, double dx, double ay, double by, double cy, double dy, double az, double bz, double cz, double dz)
std::vector< geometry_msgs::msg::Point >	getTrajectory (size_t num_points=30) const
const std::vector< geometry_msgs::msg::Point >	getTrajectory (double start_s, double end_s, double resolution, bool denormalize_s=false) const
const geometry_msgs::msg::Pose	getPose (double s, bool denormalize_s=false, bool fill_pitch=true) const
const geometry_msgs::msg::Point	getPoint (double s, bool denormalize_s=false) const
const geometry_msgs::msg::Vector3	getTangentVector (double s, bool denormalize_s=false) const
const geometry_msgs::msg::Vector3	getNormalVector (double s, bool denormalize_s=false) const
double	get2DCurvature (double s, bool denormalize_s=false) const
double	getMaximum2DCurvature () const
double	getLength (size_t num_points) const
	get length of the hermite curve. Calculate distance of two points on hermite curve and accumulate it's distance More...
double	getLength () const
std::optional< double >	getSValue (const geometry_msgs::msg::Pose &pose, double threshold_distance=3.0, bool denormalize_s=false) const
double	getSquaredDistanceIn2D (const geometry_msgs::msg::Point &point, double s, bool denormalize_s=false) const
geometry_msgs::msg::Vector3	getSquaredDistanceVector (const geometry_msgs::msg::Point &point, double s, bool denormalize_s=false) const
std::set< double >	getCollisionPointsIn2D (const geometry_msgs::msg::Point &point0, const geometry_msgs::msg::Point &point1, bool search_backward=false, bool denormalize_s=false) const
std::optional< double >	getCollisionPointIn2D (const geometry_msgs::msg::Point &point0, const geometry_msgs::msg::Point &point1, bool search_backward=false, bool denormalize_s=false) const
std::set< double >	getCollisionPointsIn2D (const std::vector< geometry_msgs::msg::Point > &polygon, bool search_backward=false, bool close_start_end=true, bool denormalize_s=false) const
std::optional< double >	getCollisionPointIn2D (const std::vector< geometry_msgs::msg::Point > &polygon, bool search_backward=false, bool close_start_end=true, bool denormalize_s=false) const

Friends
class	HermiteCurveTest

Constructor & Destructor Documentation

HermiteCurve() [1/2]

math::geometry::HermiteCurve::HermiteCurve	(	const geometry_msgs::msg::Pose &	start_pose,
		const geometry_msgs::msg::Pose &	goal_pose,
		const geometry_msgs::msg::Vector3 &	start_vec,
		const geometry_msgs::msg::Vector3 &	goal_vec
	)

HermiteCurve() [2/2]

math::geometry::HermiteCurve::HermiteCurve	(	double	ax,
		double	bx,
		double	cx,
		double	dx,
		double	ay,
		double	by,
		double	cy,
		double	dy,
		double	az,
		double	bz,
		double	cz,
		double	dz
	)

Member Function Documentation

get2DCurvature()

double math::geometry::HermiteCurve::get2DCurvature	(	double	s,
		bool	denormalize_s = false
	)		const

getCollisionPointIn2D() [1/2]

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

getCollisionPointIn2D() [2/2]

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

getCollisionPointsIn2D() [1/2]

std::set< double > math::geometry::HermiteCurve::getCollisionPointsIn2D	(	const geometry_msgs::msg::Point &	point0,
		const geometry_msgs::msg::Point &	point1,
		bool	search_backward = false,
		bool	denormalize_s = false
	)		const

Note

Obtain a solution to the cubic equation ax^3 + bx^2 + cx + d = 0 that falls within the range [0, 1].

PolynomialSolver::solveCubicEquation throws common::SimulationError when any x value can satisfy the equation, so the beginning and end point of this curve can collide with the line segment. If search_backward = true, the line segment collisions at the end of the curve. So return 1. If search_backward = false, the line segment collisions at the start of the curve. So return 0.

Denormalize given S value as necessary

If the curve and the line segment to be intersected are parallel to either of the x/y axes, one of the two parameters, tx, ty, will be in the range [0, 1] while the other will be out of that range because of division by zero.

getCollisionPointsIn2D() [2/2]

std::set< double > math::geometry::HermiteCurve::getCollisionPointsIn2D	(	const std::vector< geometry_msgs::msg::Point > &	polygon,
		bool	search_backward = false,
		bool	close_start_end = true,
		bool	denormalize_s = false
	)		const

getLength() [1/2]

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

inline

getLength() [2/2]

double math::geometry::HermiteCurve::getLength

(

size_t

num_points

)

const

get length of the hermite curve. Calculate distance of two points on hermite curve and accumulate it's distance

Parameters

num_points

Returns

double length

Approximate distance of two points on hermite curve, ignore terms above the second order of delta s.

getMaximum2DCurvature()

double math::geometry::HermiteCurve::getMaximum2DCurvature

(

)

const

getNormalVector()

const geometry_msgs::msg::Vector3 math::geometry::HermiteCurve::getNormalVector	(	double	s,
		bool	denormalize_s = false
	)		const

getPoint()

const geometry_msgs::msg::Point math::geometry::HermiteCurve::getPoint	(	double	s,
		bool	denormalize_s = false
	)		const

getPose()

const geometry_msgs::msg::Pose math::geometry::HermiteCurve::getPose	(	double	s,
		bool	denormalize_s = false,
		bool	fill_pitch = true
	)		const

Note

fill_pitch is introduced for backward-compatibility.

getSquaredDistanceIn2D()

double math::geometry::HermiteCurve::getSquaredDistanceIn2D	(	const geometry_msgs::msg::Point &	point,
		double	s,
		bool	denormalize_s = false
	)		const

getSquaredDistanceVector()

geometry_msgs::msg::Vector3 math::geometry::HermiteCurve::getSquaredDistanceVector	(	const geometry_msgs::msg::Point &	point,
		double	s,
		bool	denormalize_s = false
	)		const

getSValue()

std::optional< double > math::geometry::HermiteCurve::getSValue	(	const geometry_msgs::msg::Pose &	pose,
		double	threshold_distance = 3.0,
		bool	denormalize_s = false
	)		const

getTangentVector()

const geometry_msgs::msg::Vector3 math::geometry::HermiteCurve::getTangentVector	(	double	s,
		bool	denormalize_s = false
	)		const

getTrajectory() [1/2]

const std::vector< geometry_msgs::msg::Point > math::geometry::HermiteCurve::getTrajectory	(	double	start_s,
		double	end_s,
		double	resolution,
		bool	denormalize_s = false
	)		const

getTrajectory() [2/2]

std::vector< geometry_msgs::msg::Point > math::geometry::HermiteCurve::getTrajectory

(

size_t

num_points = 30

)

const

Friends And Related Function Documentation

HermiteCurveTest

friend class HermiteCurveTest

friend

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

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