Spline2d Class Reference

#include <spline2d.h>

Inheritance diagram for Spline2d:

Public Member Functions
virtual const Point	getValueAt (double t) const =0
virtual const std::vector< Point >	getKnots () const =0
virtual size_t	getNumKnots () const =0
virtual std::vector< double >	getKnotParametrizationValues () const =0
virtual const Point	getStartPoint () const =0
virtual const Point	getEndPoint () const =0
virtual const std::vector< SplineSegment2d >	getSplineSegments () const =0

Static Protected Member Functions
static SplineSegment2d	createSplineSegment2d (double start_val, double end_val, Polynomial2d polynomial)

Detailed Description

A 2D spline, consistent of a series of connected 2D polynomials.

Important terms: "knot" - A point on the spline where two consecutive polynomials meet

Member Function Documentation

createSplineSegment2d()

SplineSegment2d createSplineSegment2d ( double  start_val, double  end_val, Polynomial2d  polynomial  )

staticprotected

Create a SplineSegment2d

The reason that this function exists is because friendship is not inherited, and we do not want to publicly expose the constructor for SplineSegment2d. So we allow subclasses to create segments via this function.

Parameters

start_val	The first value at which to evaluate the polynomial that lies on the spline
end_val	The last value at which to evaluate the polynomial that lies on the spline
polynomial	The polynomial, part of which is on the spline

Returns

A SplineSegment2d created from the given parameters

getEndPoint()

virtual const Point getEndPoint ( ) const

pure virtual

Gets end point of spline

Returns

end point of spline

Implemented in CubicBezierSpline2d, and LinearSpline2d.

getKnotParametrizationValues()

virtual std::vector< double > getKnotParametrizationValues ( ) const

pure virtual

Get the parametrization values corresponding to the knots of this spline

So for example, if we had a 3-knot spline that is linearly interpolated, this function would return {0, 0.5, 1}.

NOTE: There is no guarantee that the knots will be at linearly interpolated (equally spaced) intervals. This could return {0, 0.25, 1.0} and still be well defined.

Returns

The parametrization values corresponding to the knots of this spline

Implemented in CubicBezierSpline2d, and LinearSpline2d.

getKnots()

virtual const std::vector< Point > getKnots ( ) const

pure virtual

Get the knots of this spline, including the start and end points

Returns

The knots of this spline, including the start and end points

Implemented in CubicBezierSpline2d, and LinearSpline2d.

getNumKnots()

virtual size_t getNumKnots ( ) const

pure virtual

Gets the number of knots in the spline including start and end points

Returns

The number of knots in the spline including start and end points

Implemented in CubicBezierSpline2d, and LinearSpline2d.

getSplineSegments()

virtual const std::vector< SplineSegment2d > getSplineSegments ( ) const

pure virtual

Get the segments that make up this spline.

Returns

The segments that make up this spline, with the order of segments being the order in which they appear along the spline, going from start to end.

Implemented in CubicBezierSpline2d, and LinearSpline2d.

getStartPoint()

virtual const Point getStartPoint ( ) const

pure virtual

Gets start point of spline

Returns

start point of spline

Implemented in CubicBezierSpline2d, and LinearSpline2d.

getValueAt()

virtual const Point getValueAt ( double  t ) const

pure virtual

Calculates the value of spline evaluated at value t

Parameters

t	A value in [0,1] to get the value of the spline at. 0 is one endpoint of the spline 1 is the other endpoint of the spline

Returns

Value of spline evaluated at t. If t not in [0,1], then the closest endpoint

Implemented in CubicBezierSpline2d, and LinearSpline2d.

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

• src/software/geom/spline2d.h
• src/software/geom/spline2d.cpp