Main Page Modules Namespace List Class Hierarchy Alphabetical List Compound List File List Namespace Members Compound Members File Members Related Pages

OSCAR::Spline Class Reference
[MotionPlanning]

An abstract class defining the base-level interface for spline curve generation. This includes the ability to set, insert, and delete the control points. More...

#include <Spline.h>

Inheritance diagram for OSCAR::Spline:

[legend]List of all members.


Public Methods
	Spline (double stepsize, OSCARError &err=DUMMY_ERROR(noError))
	Spline (OSCARError &err=DUMMY_ERROR(noError))
	Spline (const Spline &rhs)
Spline &	operator= (const Spline &rhs)
bool	SetControlPoints (const std::vector< Vector3 > &ctrlPt)
bool	AddControlPoint (const Vector3 &ctrlPt)
bool	InsertControlPoint (const Vector3 &ctrlPt, unsigned int index)
bool	DeleteControlPoint (unsigned int index)
bool	ClearControlPoints ()
bool	GetControlPoints (std::vector< Vector3 > &ctrlPoints)
bool	GetTrajectoryPoint (unsigned int i, Vector3 &point)
unsigned int	GetTrajectorySize ()
bool	SetStepSize (double stepSize)
bool	GetTrajectory (std::vector< Vector3 > &paraTrajectory)
virtual bool	GenerateTrajectory ()=0
virtual bool	GetParameterRange (double &tInitial, double &tFinal)=0
virtual bool	GetCurvePoint (double t, Vector3 &curvePoint)=0
virtual	~Spline ()
Protected Attributes
double	stepSize
double	tStart
double	tEnd
std::vector< Vector3 >	controlPoints
std::vector< Vector3 >	trajectory

Detailed Description

Author:: Peter S. March

Constructor & Destructor Documentation

OSCAR::Spline::Spline ( double stepsize,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
This constructor creates an Spline object.
Parameters:

stepsize This will be used as the stepsize for the parameter t in the blend.

err An OSCARError object that on return will hold the value of any errors that were generated during the constructor call. If err is not equal to 'noError' you can call GetError() to get the details of the error code.

OSCAR::Spline::Spline ( OSCARError & err = DUMMY_ERROR(noError) )

OSCAR::Spline::Spline ( const Spline & rhs )

Copy Constructor.
This is the Copy constructor for an object of type Spline. Use this to construct an Spline object from an existing Spline object.
Parameters:

rhs An Spline object that will be used to initialize this new object.

virtual OSCAR::Spline::~Spline ( ) [inline, virtual]

Member Function Documentation

bool OSCAR::Spline::AddControlPoint ( const Vector3 & ctrlPt )

Use this method to append a single control point to the current internally stored list of control points.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

ctrlPt An Vector3 containing the x,y,z positions of the next control point.

See also:
bool SetControlPoints(const vector<Vector3>& ctrlPt)

bool OSCAR::Spline::ClearControlPoints ( )

Use this method to clear the current control points.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

ctrl An Vector3 containing the x,y,z positions of the next control point.

bool OSCAR::Spline::DeleteControlPoint ( unsigned int index )

Use this method to delete a control point at a specified index.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

index The index of the control point to be removed.

virtual bool OSCAR::Spline::GenerateTrajectory ( ) [pure virtual]

Use this method to generate a trajectory from the set of control points.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Implemented in OSCAR::BezierCurve, OSCAR::BSpline, and OSCAR::ParabolicBlend.

bool OSCAR::Spline::GetControlPoints ( std::vector< Vector3 > & ctrlPoints )

Use this method to retrieve the current list of control points.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

ctrlPoints An STL vector of Vector3s that will contain the control points.

virtual bool OSCAR::Spline::GetCurvePoint ( double t,

Vector3 & curvePoint

) [pure virtual]

This method is used to determine a specific point along the trajectory for a given value of the independent parameter.

Parameters:

t Value of the independent parameter.

curvePoint A 3x1 vector that will store the value of the curve at the provided value of the independent parameter t.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

See also:
GetParameterRange(double& tInitial, double& tFinal)

Implemented in OSCAR::BezierCurve, OSCAR::BSpline, and OSCAR::ParabolicBlend.

virtual bool OSCAR::Spline::GetParameterRange ( double & tInitial,

double & tFinal

) [pure virtual]

This method is used to determine the range of the independent parameter t that will fully interpolate the provided control points.

Parameters:

tInitial This initial value of the independent parameter.

tFinal The final value of the independent parameter.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

See also:
virtual bool GetCurvePoint(double t, Vector3& curvePoint)

Implemented in OSCAR::BezierCurve, OSCAR::BSpline, and OSCAR::ParabolicBlend.

bool OSCAR::Spline::GetTrajectory ( std::vector< Vector3 > & paraTrajectory )

Use this method to retrieve the generated trajectory.

Parameters:

paraTrajectory An STL vector<Vector3> that the trajectory will be stored in.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

bool OSCAR::Spline::GetTrajectoryPoint ( unsigned int i,

Vector3 & point

)

Use this method to retrieve a specific point from the internally stored trajectory. If you provide an index which is not valid, this method will fail.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

i The index of the desired point to extract.

point A 3x1 vector that will store the desired point.

unsigned int OSCAR::Spline::GetTrajectorySize ( )

Use this method to retrieve the size of the internally stored trajectory. If the trajectory has not been generated, this value will be zero.

Returns:
The size of the internally stored trajectory.

bool OSCAR::Spline::InsertControlPoint ( const Vector3 & ctrlPt,

unsigned int index

)

Use this method to insert a control point at a specified index.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

ctrlPt An Vector3 object containing the x,y,z coordinates of the control point to be inserted.

index The index where the new control point will be located.

See also:
bool AddControlPoint(Vector3& ctrlPt)
bool SetControlPoints(const vector<Vector3>& ctrlPt)

Spline& OSCAR::Spline::operator= ( const Spline & rhs )

Assignment operator.
This is the Assignment operator for an object of type Spline. This operator assumes that the order and DOF of the two planners are the same.
Parameters:

rhs An Spline object that goes on the right hand side of the = operator.

Returns:
A reference to the object on the left hand side of the = operator.

bool OSCAR::Spline::SetControlPoints ( const std::vector< Vector3 > & ctrlPt )

Use this method to set the control points from a list of points.

Parameters:

ctrlPt An STL vector object of Vector3s. This object will overwrite the current internally stored control points. To generate a parabolic blend, at least 3 control points are needed.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

See also:
bool AddControlPoint(Vector3& ctrlPt)

bool OSCAR::Spline::SetStepSize ( double stepSize )

Use this method to set the step size to use in trajectory generation.

Parameters:

stepSize The value of the stepsize to use for trajectory generation.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information