CircularArcSweepPath< _Scalar > Class Template Reference

In addition to the member function provided in SweepPath, CircularArcSweepPath also provide the following handy methods: More...

#include <lagrange/primitive/legacy/SweepPath.h>

Inheritance diagram for CircularArcSweepPath< _Scalar >:

Public Types
using	Parent = SweepPath<_Scalar>
using	Scalar = typename Parent::Scalar
Public Types inherited from SweepPath< _Scalar >
using	Scalar = _Scalar
using	TransformType = Eigen::Transform<Scalar, 3, Eigen::AffineCompact>
using	PointType = Eigen::Matrix<Scalar, 1, 3>

Public Member Functions
	CircularArcSweepPath (Scalar radius, Scalar theta)
	Circular arc path constructor.
void	set_angle_begin (Scalar theta)
	Set starting sweeping angle.
void	set_angle_end (Scalar theta)
	Set ending sweeping angle.
void	initialize () override
	Generate transformation matrices based on the setting provided.
std::unique_ptr< Parent >	clone () const override
	Create a deep copy of itself.
bool	is_closed () const override
	Whether the sweep path is closed.
bool	operator== (const SweepPath< Scalar > &other) const override
	Check if two sweep paths are the same.
Public Member Functions inherited from SweepPath< _Scalar >
size_t	get_num_samples () const
	The number of samples used to sample along the sweeping path.
void	set_num_samples (size_t n)
	Set the number of samples for uniform sampling of the sweeping path.
const std::vector< Scalar > &	get_samples () const
	Samples are always in ascending order going from 0 to 1.
void	set_samples (std::vector< Scalar > samples)
	Set the sample points.
void	add_samples (const std::vector< Scalar > &samples)
	Add samples to the existing samples.
const std::vector< TransformType > &	get_transforms () const
	Retrieve the transforms generated using initialize().
std::vector< TransformType > &	get_transforms ()
std::vector< Scalar >	get_offsets () const
	Retrieve the sampled normal offsets.
Scalar	get_depth_begin () const
	Start sweeping at certain depth along the path.
void	set_depth_begin (Scalar depth)
Scalar	get_depth_end () const
	Stop sweeping at certain depth along the path.
void	set_depth_end (Scalar depth)
Scalar	get_twist_begin () const
	Twisting angle at the beginning of the sweep path.
void	set_twist_begin (Scalar twist)
Scalar	get_twist_end () const
	Twisting angle at the end of the sweep path.
void	set_twist_end (Scalar twist)
Scalar	get_taper_begin () const
	Scaling factor at the beginning of the sweep path.
void	set_taper_begin (Scalar taper)
Scalar	get_taper_end () const
	Scaling factor at the beginning of the sweep path.
void	set_taper_end (Scalar taper)
const PointType &	get_pivot () const
	Twisting and tapering are all with respect to a pivot point.
void	set_pivot (const PointType &p)
void	set_offset_fn (std::function< Scalar(Scalar)> fn)
	Offset function provides a mapping from the relative depth (from 0 to 1) to a normal offset amount (measured in 3D Euclidean distance).
bool	has_offsets () const
void	set_normalization_transform (const TransformType &transform)
	Sometimes one may want to sweep a normalized profile curve, and update normalization from time to time.
const TransformType &	get_normalization_transform () const

Additional Inherited Members
Protected Member Functions inherited from SweepPath< _Scalar >
void	clone_settings (SweepPath< Scalar > &other) const
Protected Attributes inherited from SweepPath< _Scalar >
std::vector< TransformType >	m_transforms
std::vector< Scalar >	m_samples
	should be sorted in ascending order from 0 to 1.
TransformType	m_normalization = TransformType::Identity()
Scalar	m_depth_begin = 0
Scalar	m_depth_end = 1
Scalar	m_twist_begin = 0
Scalar	m_twist_end = 0
Scalar	m_taper_begin = 1
Scalar	m_taper_end = 1
PointType	m_pivot {0, 0, 0}
std::function< Scalar(Scalar)>	m_offset_fn

Detailed Description

template<typename _Scalar>
class lagrange::primitive::legacy::CircularArcSweepPath< _Scalar >

In addition to the member function provided in SweepPath, CircularArcSweepPath also provide the following handy methods:

path->set_angle_begin(0);   // Set the arc angle at the beginning.
path->set_angle_end(lagrange::internal::pi);  // Set the arc angle at the end.

Constructor & Destructor Documentation

CircularArcSweepPath()

template<typename _Scalar>

CircularArcSweepPath ( Scalar radius, Scalar theta )

inline

Circular arc path constructor.

The circular arc is embedded in a plane perpendicular to the XY plane.

Parameters

[in]	radius	Radius of the circle.
[in]	theta	Rotation angle around Z axis. 0 means the circular arc is embedded in the XZ plane.

Member Function Documentation

set_angle_begin()

template<typename _Scalar>

void set_angle_begin ( Scalar theta )

inline

Set starting sweeping angle.

This is an alternative way of setting depth at the beginning of the sweep.

set_angle_end()

template<typename _Scalar>

void set_angle_end ( Scalar theta )

inline

Set ending sweeping angle.

This is an alternative way of setting depth at the end of the sweep.

initialize()

template<typename _Scalar>

void initialize ( )

inlineoverridevirtual

Generate transformation matrices based on the setting provided.

The generated transforms can be retrieved using get_transforms() method.

Implements SweepPath< _Scalar >.

clone()

template<typename _Scalar>

std::unique_ptr< Parent > clone ( ) const

inlineoverridevirtual

Create a deep copy of itself.

Implements SweepPath< _Scalar >.

is_closed()

template<typename _Scalar>

bool is_closed ( ) const

inlineoverridevirtual

Whether the sweep path is closed.

Implements SweepPath< _Scalar >.

operator==()

template<typename _Scalar>

bool operator== ( const SweepPath< Scalar > & other ) const

inlineoverridevirtual

Check if two sweep paths are the same.

Reimplemented from SweepPath< _Scalar >.

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

• lagrange/primitive/legacy/SweepPath.h