Drake

An extension for ignition::math::Splines that reparameterizes them by path length. More...
#include <automotive/maliput/rndf/spline_helpers.h>
Public Member Functions  
ArcLengthParameterizedSpline (std::unique_ptr< ignition::math::Spline > spline, double error_boundary)  
Constructor that takes a spline and an error bound for path length parameterization approximations. More...  
ignition::math::Vector3d  InterpolateMthDerivative (int derivative_order, double s) 
Interpolates \( Q(s) \), that is, the spline parameterized by path length. More...  
ignition::math::Spline *  BaseSpline () 
double  FindClosestPointTo (const ignition::math::Vector3d &point, double step) const 
Finds the closest point on the spline to a point in space. More...  
Does not allow copy, move, or assignment  
ArcLengthParameterizedSpline (const ArcLengthParameterizedSpline &)=delete  
ArcLengthParameterizedSpline &  operator= (const ArcLengthParameterizedSpline &)=delete 
ArcLengthParameterizedSpline (ArcLengthParameterizedSpline &&)=delete  
ArcLengthParameterizedSpline &  operator= (ArcLengthParameterizedSpline &&)=delete 
An extension for ignition::math::Splines that reparameterizes them by path length.

delete 

delete 

explicit 
Constructor that takes a spline and an error bound for path length parameterization approximations.
[in]  spline  the spline to be parameterized by path length. 
[in]  error_boundary  a positive constraint on the maximum error allowed when approximating the path length parameterization. 
std::runtime_error  When spline is nullptr. 
std::runtime_error  When error_boundary is not a positive number. 

inline 
Finds the closest point on the spline to a point in space.
It will iterate over the range of s of the spline which is 0 to 1 in terms of ignition::math::Spline's parameter at constant path length step
increments. On each iteration we get the distance and save the path length coordinate that gives the minimum distance.
point  the point in space from which we want to get the s path length value whose image of the direct function (the spline) within 0 and the total length of the direct function. 
step  the path length increment to iterate over the complete spline path length. 
point
. Interpolates \( Q(s) \), that is, the spline parameterized by path length.
[in]  derivative_order  a nonnegative integer describing the order of the function derivative to interpolate. Since cubic interpolation is done, any derivative order greater than 3 will be zero. 
[in]  s  path length to interpolate at, constrained by the curve dimensions [0, path_length]. 
derivative_order
derivative \( Q^{(derivative_order)}(s) \). std::runtime_error  If derivative_order is a negative integer. 

delete 

delete 