Configuration class for sweep operations on 3D geometry. More...

#include <lagrange/primitive/SweepOptions.h>

Public Types
using	Point = Eigen::Matrix<Scalar, 1, 3>

using	Frame = Eigen::Matrix<Scalar, 3, 3>

using	Transform = Eigen::Transform<Scalar, 3, Eigen::AffineCompact>

Public Member Functions
std::vector< Transform >	sample_transforms () const
	Samples transformation matrices along the sweep path.

Transform	sample_transform (Scalar t) const
	Samples the transformation matrix at a specific parameter t.

std::vector< Scalar >	sample_offsets () const
	Samples offset values along the sweep path.

Scalar	sample_offset (Scalar t) const
	Samples the offset value at a specific parameter t.

void	set_pivot (const Point &pivot)
	Sets the pivot point for the sweep transformation.

const Point &	get_pivot () const
	Gets the current pivot point.

void	set_normalization (const Transform &normalization)
	Sets the normalization transformation applied to the sweep.

const Transform &	get_normalization () const
	Gets the current normalization transformation.

void	set_num_samples (size_t num_samples)
	Sets the number of samples to use along the sweep path.

size_t	get_num_samples () const
	Gets the current number of samples.

void	set_periodic (bool periodic)
	Sets whether the sweep should be treated as periodic.

bool	is_periodic () const
	Checks if the sweep is configured as periodic.

void	set_domain (std::array< Scalar, 2 > domain)
	Sets the parameter domain for sampling transformations.

const std::array< Scalar, 2 > &	get_domain () const
	Gets the current parameter domain for sampling transformations.

bool	is_closed () const
	Checks if the sweep is closed.

void	set_position_function (std::function< Point(Scalar)> fn)
	Sets the position function that defines the sweep path.

bool	has_positions () const
	Checks if a position function has been set.

void	set_frame_function (std::function< Frame(Scalar)> fn)
	Sets the frame function that defines orientation along the sweep path.

bool	has_frames () const
	Checks if a frame function has been set.

void	set_twist_function (std::function< Scalar(Scalar)> fn)
	Sets the twist function that defines rotation around the sweep path.

bool	has_twists () const
	Checks if a twist function has been set.

void	set_taper_function (std::function< Scalar(Scalar)> fn)
	Sets the taper function that defines scaling along the sweep path.

bool	has_tapers () const
	Checks if a taper function has been set.

void	set_offset_function (std::function< Scalar(Scalar)> fn)
	Sets the offset function that defines offsets along the sweep path.

bool	has_offsets () const
	Checks if an offset function has been set.

Static Public Member Functions
static SweepOptions< Scalar >	linear_sweep (const Point &from, const Point &to, bool follow_tangent=true)
	Creates a linear sweep configuration from one point to another.

static SweepOptions< Scalar >	circular_sweep (const Point &p, const Point &axis, Scalar angle=static_cast< Scalar >(2 *lagrange::internal::pi), bool follow_tangent=true)
	Creates a circular sweep configuration around a specified axis.

Protected Attributes
Point	m_pivot = Point::Zero()
	The pivot point for sweep transformations.

Transform	m_normalization = Transform::Identity()
	The normalization transformation applied to the sweep.

size_t	m_num_samples = 16
	The number of samples along the sweep path.

bool	m_periodic = false
	Whether the sweep is periodic (closed loop)

std::array< Scalar, 2 >	m_domain = {0, 1}
	The parameter domain for sampling transformations.

std::function< Point(Scalar)>	m_position_fn
	Function defining positions along the sweep path.

std::function< Frame(Scalar)>	m_frame_fn
	Function defining frame orientations along the sweep path.

std::function< Scalar(Scalar)>	m_twist_fn
	Function defining twist angles along the sweep path.

std::function< Scalar(Scalar)>	m_taper_fn
	Function defining taper scale factors along the sweep path.

std::function< Scalar(Scalar)>	m_offset_fn
	Function defining offsets along the sweep path.

Detailed Description

template<typename Scalar>
class lagrange::primitive::SweepOptions< Scalar >

Configuration class for sweep operations on 3D geometry.

SweepOptions provides a flexible framework for defining sweep transformations that can be applied to 2D profiles to generate 3D geometry. It supports various types of sweeps including linear and circular sweeps, with additional control over frame orientation, twist, taper, and offset along the sweep path.

Template Parameters

Scalar The scalar type used for computations (e.g., float, double).

Member Function Documentation

◆ linear_sweep()

template<typename Scalar>

SweepOptions< Scalar > linear_sweep	(	const Point &	from,
		const Point &	to,
		bool	follow_tangent = true )

static

Creates a linear sweep configuration from one point to another.

Parameters

from	The starting point of the linear sweep relative to the pivot.
to	The ending point of the linear sweep relative to the pivot.
follow_tangent	Whether the sweep frame should follow the tangent direction.

Returns: A SweepOptions configured for linear sweep.

◆ circular_sweep()

template<typename Scalar>

SweepOptions< Scalar > circular_sweep	(	const Point &	p,
		const Point &	axis,
		Scalar	angle = static_cast<Scalar>(2 * lagrange::internal::pi),
		bool	follow_tangent = true )

static

Creates a circular sweep configuration around a specified axis.

Parameters

p	A point defining a point on the circular sweep path relative to the pivot.
axis	The axis of rotation for the circular sweep (should be normalized).
angle	The angle of the circular sweep in radians (default is 2 * pi for a full circle).
follow_tangent	Whether the sweep frame should follow the tangent direction.

Returns: A SweepOptions configured for circular sweep.

Note: The sweep setting will be periodic if the angle is a non-zero multiple of 2 * pi.

Warning: The axis vector should be normalized for predictable results.

Example:

auto sweep = SweepOptions<float>::circular_sweep(
    Point(1, 0, 0),  // radius 1 circle in XY plane
    Point(0, 0, 1)   // around Z axis
);

◆ sample_transforms()

template<typename Scalar>

std::vector< typename SweepOptions< Scalar >::Transform > sample_transforms ( ) const

Samples transformation matrices along the sweep path.

Returns: A vector of transformation matrices with size equal to get_num_samples().

◆ sample_transform()

template<typename Scalar>

SweepOptions< Scalar >::Transform sample_transform ( Scalar t ) const

Samples the transformation matrix at a specific parameter t.

Parameters

t	The parameter value in the domain.

Returns: The transformation matrix at the specified parameter t.

◆ sample_offsets()

template<typename Scalar>

std::vector< Scalar > sample_offsets ( ) const

Samples offset values along the sweep path.

Returns: A vector of offset values sampled along the sweep path.

◆ sample_offset()

template<typename Scalar>

Scalar sample_offset ( Scalar t ) const

Samples the offset value at a specific parameter t.

Parameters

t	The parameter value in the domain.

Returns: The offset value at the specified parameter t.

◆ set_pivot()

template<typename Scalar>

void set_pivot ( const Point & pivot )

inline

Sets the pivot point for the sweep transformation.

Pivot point is the relative origin for the sweep transformations. It is typically set at the center of the profile being swept. By default, it is set to the origin (0, 0, 0).

Parameters

pivot The pivot point to use for transformations.

See also: get_pivot, set_normalization

◆ get_pivot()

template<typename Scalar>

const Point & get_pivot ( ) const

inline

Gets the current pivot point.

Returns: The current pivot point.

◆ set_normalization()

template<typename Scalar>

void set_normalization ( const Transform & normalization )

inline

Sets the normalization transformation applied to the sweep.

Normalization is typically used to normalize the profile curve to fit in a unit box centered at the origin. All sweep transformations will be relative to this normalized space. The default normalization is the identity transformation, meaning no normalization is applied.

Parameters

normalization The normalization transformation to apply.

Note: The transformation should be invertible for proper sweep generation.

Warning: Transformations with zero determinant will cause undefined behavior.

◆ get_normalization()

template<typename Scalar>

const Transform & get_normalization ( ) const

inline

Gets the current normalization transformation.

Returns: The current normalization transformation.

◆ set_num_samples()

template<typename Scalar>

void set_num_samples ( size_t num_samples )

inline

Sets the number of samples to use along the sweep path.

The default number of samples is 16.

Parameters

num_samples The number of samples (must be at least 2).

Exceptions

std::runtime_error if num_samples is less than 2.

◆ get_num_samples()

template<typename Scalar>

size_t get_num_samples ( ) const

inline

Gets the current number of samples.

Returns: The current number of samples.

◆ set_periodic()

template<typename Scalar>

void set_periodic ( bool periodic )

inline

Sets whether the sweep should be treated as periodic.

A sweep is periodic (with period 1) if all transformation functions satisfy: f(t) = f(t + 1) for any t, where f represents position, frame, twist, taper, or offset functions. This is useful for closed sweep paths like circles or loops.

Parameters

periodic True if the sweep is periodic (e.g., closed loops).

Note: When periodic=true, sampling will ensure proper connectivity at domain boundaries.

◆ is_periodic()

template<typename Scalar>

bool is_periodic ( ) const

inline

Checks if the sweep is configured as periodic.

Returns: True if the sweep is periodic, false otherwise.

◆ set_domain()

template<typename Scalar>

void set_domain ( std::array< Scalar, 2 > domain )

inline

Sets the parameter domain for sampling transformations.

Parameters

domain A 2-element array defining the start and end of the parameter domain.

Note: The domain must satisfy domain[0] < domain[1].

◆ get_domain()

template<typename Scalar>

const std::array< Scalar, 2 > & get_domain ( ) const

inline

Gets the current parameter domain for sampling transformations.

Returns: A 2-element array representing the start and end of the parameter domain.

◆ is_closed()

template<typename Scalar>

bool is_closed ( ) const

inline

Checks if the sweep is closed.

A sweep is considered closed if it is periodic and the total length of the sweep path is equal to 1 up to floating point error.

Returns: True if the sweep is closed, false otherwise.

◆ set_position_function()

template<typename Scalar>

void set_position_function ( std::function< Point(Scalar)> fn )

inline

Sets the position function that defines the sweep path.

Parameters

fn	A function that maps parameter values to 3D positions along the sweep path.

◆ has_positions()

template<typename Scalar>

bool has_positions ( ) const

inline

Checks if a position function has been set.

Returns: True if a position function is defined, false otherwise.

◆ set_frame_function()

template<typename Scalar>

void set_frame_function ( std::function< Frame(Scalar)> fn )

inline

Sets the frame function that defines orientation along the sweep path.

The frame function defines a local coordinate system at each point along the sweep path. Each frame should be orthonormal with determinant +1. The last column/basis of the frame matrix should represent the tangent vector of the sweep path at that point.

Parameters

fn	A function that maps parameter values in [0,1] to 3x3 orthonormal matrices.

◆ has_frames()

template<typename Scalar>

bool has_frames ( ) const

inline

Checks if a frame function has been set.

Returns: True if a frame function is defined, false otherwise.

◆ set_twist_function()

template<typename Scalar>

void set_twist_function ( std::function< Scalar(Scalar)> fn )

inline

Sets the twist function that defines rotation around the sweep path.

The twist function applies additional rotation around the sweep path tangent vector. Twist values are interpreted as radians of rotation.

Parameters

fn	A function that maps parameter values in [0,1] to twist angles in radians.

◆ has_twists()

template<typename Scalar>

bool has_twists ( ) const

inline

Checks if a twist function has been set.

Returns: True if a twist function is defined, false otherwise.

◆ set_taper_function()

template<typename Scalar>

void set_taper_function ( std::function< Scalar(Scalar)> fn )

inline

Sets the taper function that defines scaling along the sweep path.

The taper function applies uniform scaling to the profile at each point along the sweep. A taper value of 1.0 means no scaling, values > 1.0 expand, values < 1.0 contract.

Parameters

fn	A function that maps parameter values in [0,1] to positive scale factors.

◆ has_tapers()

template<typename Scalar>

bool has_tapers ( ) const

inline

Checks if a taper function has been set.

Returns: True if a taper function is defined, false otherwise.

◆ set_offset_function()

template<typename Scalar>

void set_offset_function ( std::function< Scalar(Scalar)> fn )

inline

Sets the offset function that defines offsets along the sweep path.

Parameters

fn	A function that maps parameter values to offset distances.

◆ has_offsets()

template<typename Scalar>

bool has_offsets ( ) const

inline

Checks if an offset function has been set.

Returns: True if an offset function is defined, false otherwise.

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

lagrange/primitive/SweepOptions.h
SweepOptions.cpp

Public Types

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ linear_sweep()

◆ circular_sweep()

◆ sample_transforms()

◆ sample_transform()

◆ sample_offsets()

◆ sample_offset()

◆ set_pivot()

◆ get_pivot()

◆ set_normalization()

◆ get_normalization()

◆ set_num_samples()

◆ get_num_samples()

◆ set_periodic()

◆ is_periodic()

◆ set_domain()

◆ get_domain()

◆ is_closed()

◆ set_position_function()

◆ has_positions()

◆ set_frame_function()

◆ has_frames()

◆ set_twist_function()

◆ has_twists()

◆ set_taper_function()

◆ has_tapers()

◆ set_offset_function()

◆ has_offsets()