Extends manipulation of parametric functions collection with closed-form arc length (distance) computation. More...

#include <param_func_dist.h>

Inheritance diagram for tuw::ParamFuncsDist:

[legend]

Public Types
enum	TraveledDistCfMode { TraveledDistCfMode::NONE, TraveledDistCfMode::V, TraveledDistCfMode::AV }
	Required type of traveled distance computation relative to the parametric function. More...

Public Types inherited from tuw::ParamFuncs
enum	CtrlPtDim { CtrlPtDim::VAL, CtrlPtDim::ARC }
	Control point variable dimension. More...

enum	EvalArcGuarantee { EvalArcGuarantee::NONE, EvalArcGuarantee::AFTER_LAST, EvalArcGuarantee::BEFORE_LAST, EvalArcGuarantee::AT_BEGIN, EvalArcGuarantee::AT_END }
	Flags if any guarantees about evaluation arc relative to last evaluation arc are present. More...

enum	FuncEvalMode { FuncEvalMode::DIFF1, FuncEvalMode::DIFF2, FuncEvalMode::INT1, FuncEvalMode::INT2, FuncEvalMode::FUNC, FuncEvalMode::ENUM_SIZE }
	Required type of computation relative to the parametric function. More...

using	FuncEvalModesFlags = std::array< bool, nrModesMax_ >

Public Member Functions
virtual double	computeS () const =0

virtual void	computeS2TLattice (const std::vector< double > &_sLattice, std::vector< double > &_tLattice)=0
	Computes arc parametrization lattice given a distance-parametrized lattice. More...

virtual void	computeS2TLattice (const double &_arc0, const double &_ds, std::vector< double > &_tLattice)=0
	Computes arc parametrization lattice given an inital arc and distance parametrized sampling interval. More...

virtual double	computeT (const double &_s, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::NONE)=0

ParamFuncsDist &	operator= (const ParamFuncsDist &_other)=default

ParamFuncsDist &	operator= (ParamFuncsDist &&)=delete

	ParamFuncsDist ()=default

	ParamFuncsDist (const ParamFuncsDist &_other)=default

	ParamFuncsDist (ParamFuncsDist &&)=delete

virtual void	setDistCfMode (TraveledDistCfMode _distCfMode, const std::vector< std::size_t > &_distRelFuncIdx)=0
	Initializer of the Closed form distance computation mode. More...

virtual void	setEvalDist (const double &_funcsDistEval, const ParamFuncs::EvalArcGuarantee &_evalArcGuarantee=ParamFuncs::EvalArcGuarantee::NONE)=0
	Moves to evaluation arc at which the traveled distance _funcsDistEval is achieved. More...

virtual	~ParamFuncsDist ()=default

Public Member Functions inherited from tuw::ParamFuncs
virtual double	computeFuncDiff1 (const std::size_t &_funcIdx) const =0
	Computes 1st derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

virtual double	computeFuncDiff2 (const std::size_t &_funcIdx) const =0
	Computes 2nd derivative of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

virtual double	computeFuncInt1 (const std::size_t &_funcIdx) const =0
	Computes integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

virtual double	computeFuncInt2 (const std::size_t &_funcIdx) const =0
	Computes double integral of parametric function with index _funcIdx on interval [funcsArcBegin_, funcsArcEnd_]. More...

virtual double	computeFuncVal (const std::size_t &_funcIdx) const =0
	Computes value of parametric function with index _funcIdx at parametric arc set by setEvalArc. More...

FuncCtrlPt &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx)
	Access of a parametric function control point. More...

const FuncCtrlPt &	ctrlPt (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx) const
	Const access of a parametric function control point. More...

double &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL)
	Access of a parametric function control point dimension. More...

const double &	ctrlPtVal (const std::size_t &_funcIdx, const std::size_t &_funcCtrlPtIdx, const CtrlPtDim &_ctrlPtDim=CtrlPtDim::VAL) const
	Const of a parametric function control point dimension. More...

std::size_t	funcCtrlPtSize (const std::size_t &_i) const
	Number of control points for a parametric function. More...

double &	funcsArc (const std::size_t &_i, const std::size_t &_j)
	Access to the arc parameter vector at index _i, control point _j. More...

const double &	funcsArc (const std::size_t &_i, const std::size_t &_j) const
	Const access the arc parameter vector at index _i, control point _j. More...

double &	funcsArcBegin ()
	Access to the initial value of the arc parametrization. More...

const double &	funcsArcBegin () const
	Const access to the initial value of the arc parametrization. More...

double &	funcsArcEnd ()
	Access to the final value of the arc parametrization. More...

const double &	funcsArcEnd () const
	Const access to the finall value of the arc parametrization. More...

const double &	funcsArcEval () const
	Const access to the active evaluation point arc parametrization. More...

std::size_t	funcsArcSize () const
	Number of arc parametrizations. More...

std::size_t	funcsArcSize (const std::size_t &_i) const
	Number of control points of parametrization _i. More...

std::size_t	funcsSize () const
	Number of parametric functions. More...

void	init (const std::vector< tuw::ParamFuncs::ParamFuncsStructure > &_paramFuncsStructure)
	Initializes the control structure. More...

ParamFuncs &	operator= (const ParamFuncs &)

ParamFuncs &	operator= (ParamFuncs &&)=delete

	ParamFuncs ()=default

	ParamFuncs (const ParamFuncs &)

	ParamFuncs (ParamFuncs &&)=delete

virtual void	precompute ()=0
	Precomputes cached data. More...

virtual void	setEvalArc (const double &_funcsArcEval, const EvalArcGuarantee &_evalArcGuarantee=EvalArcGuarantee::NONE)=0
	Sets parametric function evaluation arc. More...

void	shiftStartCtrlPt (const double &_dt)

virtual	~ParamFuncs ()=default

Additional Inherited Members
Static Public Attributes inherited from tuw::ParamFuncs
static constexpr const std::size_t	nrModesMax_ = asInt(FuncEvalMode::ENUM_SIZE) - 1
	Maximum number of computation modes (except the parametric function itself FUNC). Currently 4 other choices supported. More...

Protected Member Functions inherited from tuw::ParamFuncs
virtual void	initImpl ()=0
	Called at end of init. To be used by extended classes. More...

Protected Attributes inherited from tuw::ParamFuncs
std::vector< std::size_t >	func2Arc_
	Maps the parametrized functions to their afferent arc parametrizations. More...

std::vector< std::vector< FuncCtrlPt > >	funcCtrlPt_
	Stores the control points for all the parametrized functions. More...

std::vector< FuncEvalModesFlags >	funcEvalReq_
	Flags for required function computation modes. More...

double	funcsArcBegin_
	Arc parametrization at the beginning of the functions domain definitions (common for all functions). More...

double	funcsArcEnd_
	Arc parametrization at the end of the functions domain definitions (common for all functions). More...

double	funcsArcEval_
	Arc parametrization at the evaluation point (set by setEvalArc)/. More...

std::vector< ParamFuncsStructure >	paramFuncsStructure_
	Initialization structure "store" variable. More...

Detailed Description

Extends manipulation of parametric functions collection with closed-form arc length (distance) computation.

Definition at line 51 of file param_func_dist.h.

Member Enumeration Documentation

enum tuw::ParamFuncsDist::TraveledDistCfMode

strong

Required type of traveled distance computation relative to the parametric function.

Enumerator
NONE	no closed-form distance computation mode
V	agent base center linear velocity is parametric function
AV	agent base center linear acceleration is parametric function

Definition at line 56 of file param_func_dist.h.

Constructor & Destructor Documentation

tuw::ParamFuncsDist::ParamFuncsDist ( )

default

virtual tuw::ParamFuncsDist::~ParamFuncsDist ( )

virtualdefault

tuw::ParamFuncsDist::ParamFuncsDist ( const ParamFuncsDist & _other )

default

tuw::ParamFuncsDist::ParamFuncsDist ( ParamFuncsDist && )

delete

Member Function Documentation

virtual double tuw::ParamFuncsDist::computeS ( ) const

pure virtual

Solves the equation $\int_{0}^{evalArc\_}{ |v(\mathbf{p}, t)| } dt = \_s$ for _deltaS (evalArc_: time, _s: traveled distance, v: body linear velocity, $\mathbf{p}$ : parametrized control points).

Implemented in tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, tuw::ParamFuncsSpline0Dist< TNumType, 2, 2 >, and tuw::ParamFuncsSpline0Dist< TNumType, 2, 1 >.

virtual void tuw::ParamFuncsDist::computeS2TLattice	(	const std::vector< double > &	_sLattice,
		std::vector< double > &	_tLattice
	)

pure virtual

Computes arc parametrization lattice given a distance-parametrized lattice.

Parameters

_sLattice	Distance-parametrized input lattice. It is assumed that the vector is monotonically increasing.
_tLattice	Arc-parametrized output lattice.

Implemented in tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, tuw::ParamFuncsSpline0Dist< TNumType, 2, 2 >, and tuw::ParamFuncsSpline0Dist< TNumType, 2, 1 >.

virtual void tuw::ParamFuncsDist::computeS2TLattice	(	const double &	_arc0,
		const double &	_ds,
		std::vector< double > &	_tLattice
	)

pure virtual

Computes arc parametrization lattice given an inital arc and distance parametrized sampling interval.

The function computes the temporal lattice starting with s(_arc0) and ending with the maximum value of the arc parametrization.

Parameters

_sLattice	Distance-parametrized input lattice. It is assumed that the vector values are monotonically increasing.
_tLattice	Arc-parametrized output lattice.

Implemented in tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, tuw::ParamFuncsSpline0Dist< TNumType, 2, 2 >, and tuw::ParamFuncsSpline0Dist< TNumType, 2, 1 >.

virtual double tuw::ParamFuncsDist::computeT	(	const double &	_s,
		const ParamFuncs::EvalArcGuarantee &	_evalArcGuarantee = `ParamFuncs::EvalArcGuarantee::NONE`
	)

pure virtual

Solves the equation $\int_{0}^{\_deltaT}{ |v(\mathbf{p}, t)| } dt = \_s$ for _s (evalArc_: time, _s: traveled distance, v: body linear velocity, $\mathbf{p}$ : parametrized control points).

Implemented in tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, tuw::ParamFuncsSpline0Dist< TNumType, 2, 2 >, and tuw::ParamFuncsSpline0Dist< TNumType, 2, 1 >.

ParamFuncsDist& tuw::ParamFuncsDist::operator= ( const ParamFuncsDist & _other )

default

ParamFuncsDist& tuw::ParamFuncsDist::operator= ( ParamFuncsDist && )

delete

virtual void tuw::ParamFuncsDist::setDistCfMode	(	TraveledDistCfMode	_distCfMode,
		const std::vector< std::size_t > &	_distRelFuncIdx
	)

pure virtual

Initializer of the Closed form distance computation mode.

virtual void tuw::ParamFuncsDist::setEvalDist	(	const double &	_funcsDistEval,
		const ParamFuncs::EvalArcGuarantee &	_evalArcGuarantee = `ParamFuncs::EvalArcGuarantee::NONE`
	)

pure virtual

Moves to evaluation arc at which the traveled distance _funcsDistEval is achieved.

Implemented in tuw::ParamFuncsSpline0Dist< TNumType, TFuncSize, TArcLatticeSize >, tuw::ParamFuncsSpline0Dist< TNumType, 2, 2 >, and tuw::ParamFuncsSpline0Dist< TNumType, 2, 1 >.

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

param_func_dist.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation