diff --git a/Clothoids.prj b/Clothoids.prj index 928d2678..6e0a6a07 100644 --- a/Clothoids.prj +++ b/Clothoids.prj @@ -1,5 +1,5 @@ - + Clothoids Enrico Bertolazzi enrico.bertolazzi@unitn.it @@ -7,7 +7,7 @@ Clothoids, a library for clothoids computation and more A library for clothoids computation and more. ${PROJECT_ROOT}/toolbox/logo.png - 2.0.7 + 2.0.8 ${PROJECT_ROOT}/Clothoids.mltbx @@ -133,7 +133,7 @@ setup.m false false false - 10.15.7 + 10.16 false true maci64 diff --git a/docs/.buildinfo b/docs/.buildinfo index f5f0931b..997732da 100644 --- a/docs/.buildinfo +++ b/docs/.buildinfo @@ -1,4 +1,4 @@ # Sphinx build info version 1 # This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done. -config: 9587c11398e26ccef784a9eb1ada6096 +config: 06c42412d65c464d8de2f6ea7ad554f8 tags: 645f666f9bcd5a90fca523b33c5a78b7 diff --git a/docs/Matlab_manual.html b/docs/Matlab_manual.html index e8b51aa5..5101de91 100644 --- a/docs/Matlab_manual.html +++ b/docs/Matlab_manual.html @@ -7,7 +7,7 @@ - Matlab Interface Manual — Clothoids v2.0.7 + <title>Matlab Interface Manual — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00123.html b/docs/api-cpp/class_a00123.html index b81f1e27..9f991535 100644 --- a/docs/api-cpp/class_a00123.html +++ b/docs/api-cpp/class_a00123.html @@ -7,7 +7,7 @@ - Class BBox — Clothoids v2.0.7 + <title>Class BBox — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00127.html b/docs/api-cpp/class_a00127.html index 9957b3a1..0df36893 100644 --- a/docs/api-cpp/class_a00127.html +++ b/docs/api-cpp/class_a00127.html @@ -7,7 +7,7 @@ - Class AABBtree — Clothoids v2.0.7 + <title>Class AABBtree — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00131.html b/docs/api-cpp/class_a00131.html index b668f1ac..731e8ca4 100644 --- a/docs/api-cpp/class_a00131.html +++ b/docs/api-cpp/class_a00131.html @@ -7,7 +7,7 @@ - Class BaseCurve — Clothoids v2.0.7 + <title>Class BaseCurve — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00135.html b/docs/api-cpp/class_a00135.html index 6d6f20d7..3b1f3bd9 100644 --- a/docs/api-cpp/class_a00135.html +++ b/docs/api-cpp/class_a00135.html @@ -7,7 +7,7 @@ - Class Biarc — Clothoids v2.0.7 + <title>Class Biarc — Clothoids v2.0.8 @@ -122,7 +122,7 @@

Class Documentationinline Biarc()
-

construct and empty biarc

+

Construct and empty biarc

@@ -169,7 +169,7 @@

Class Documentationinline void copy(Biarc const &c)
-

Make a copy of an existing biarc

+

Make a copy of an existing biarc.

@@ -178,7 +178,7 @@

Class Documentationinline Biarc const &operator=(Biarc const &ba)
-

make a copy of an existing biarc

+

Make a copy of an existing biarc.

@@ -187,7 +187,7 @@

Class Documentationinline CircleArc const &C0() const
-

Return the first circle arc of the biarc

+

Return the first circle arc of the biarc.

@@ -196,7 +196,7 @@

Class Documentationinline CircleArc const &C1() const
-

Return the first circle arc of the biarc

+

Return the first circle arc of the biarc.

@@ -232,6 +232,7 @@

Class Documentation

  • Planar point set fairing and fitting by arc splines

  • Xunnian Yang and Guozhao Wang

    • @@ -993,7 +994,7 @@

    Class Documentationinline real_type xMiddle() const
    -

    Return the x-coordinate of the juction point of the biarc

    +

    Return the x-coordinate of the juction point of the biarc.

    @@ -1002,7 +1003,7 @@

    Class Documentationinline real_type yMiddle() const
    -

    Return the y-coordinate of the juction point of the biarc

    +

    Return the y-coordinate of the juction point of the biarc.

    @@ -1011,7 +1012,7 @@

    Class Documentationinline real_type thetaMiddle() const
    -

    Return the angle of the juction point of the biarc

    +

    Return the angle of the juction point of the biarc.

    @@ -1020,7 +1021,7 @@

    Class Documentationinline real_type kappa0() const
    -

    Return the curvature of the first arc of the biarc

    +

    Return the curvature of the first arc of the biarc.

    @@ -1029,7 +1030,7 @@

    Class Documentationinline real_type length0() const
    -

    Intial angle of the biarc

    +

    Intial angle of the biarc.

    @@ -1038,7 +1039,7 @@

    Class Documentationinline real_type kappa1() const
    -

    Return the curvature of the first arc of the biarc

    +

    Return the curvature of the first arc of the biarc.

    @@ -1047,7 +1048,7 @@

    Class Documentationinline real_type length1() const
    -

    Final angle of the biarc

    +

    Final angle of the biarc.

    @@ -1056,7 +1057,7 @@

    Class Documentationinline real_type delta_theta() const
    -

    Change of the angle of the biarc ( \( \theta_1-\theta_0 \) )

    +

    Change of the angle of the biarc ( \( \theta_1-\theta_0 \)).

    @@ -1130,7 +1131,7 @@

    Class Documentationinline bool collision(Biarc const &B) const
    -

    Detect a collision with another biarc

    +

    Detect a collision with another biarc.

    @@ -1139,7 +1140,7 @@

    Class Documentationinline bool collision_ISO(real_type offs, Biarc const &B, real_type offs_B) const
    -

    Detect a collision with another biarc with offset

    +

    Detect a collision with another biarc with offset.

    Parameters
    @@ -1158,7 +1159,7 @@

    Class Documentationvoid intersect(Biarc const &B, IntersectList &ilist, bool swap_s_vals) const
    -

    Intersect a biarc with another biarc

    +

    Intersect a biarc with another biarc.

    Parameters
    @@ -1177,7 +1178,7 @@

    Class Documentationvoid intersect_ISO(real_type offs, Biarc const &B, real_type offs_B, IntersectList &ilist, bool swap_s_vals) const
    -

    Intersect a biarc with another biarc with offset (ISO)

    +

    Intersect a biarc with another biarc with offset (ISO).

    Parameters
    @@ -2093,7 +2094,7 @@

    Class Documentationfriend ostream_type &operator<<(ostream_type &stream, Biarc const &bi)
    -

    Pretty print of the biarc

    +

    Pretty print of the biarc.

    diff --git a/docs/api-cpp/class_a00139.html b/docs/api-cpp/class_a00139.html index a068d223..e31f00ca 100644 --- a/docs/api-cpp/class_a00139.html +++ b/docs/api-cpp/class_a00139.html @@ -7,7 +7,7 @@ - Class BiarcList — Clothoids v2.0.7 + <title>Class BiarcList — Clothoids v2.0.8 @@ -115,7 +115,7 @@

    Class Documentationinline BiarcList()
    -

    Build an empty biarc spline

    +

    Build an empty biarc spline.

    @@ -131,7 +131,7 @@

    Class Documentationinline BiarcList(BiarcList const &s)
    -

    Build a copy of another biarc spline

    +

    Build a copy of another biarc spline.

    @@ -140,7 +140,7 @@

    Class Documentationvoid init()
    -

    Empty the the biarc list

    +

    Empty the the biarc list.

    @@ -149,7 +149,7 @@

    Class Documentationvoid reserve(int_type n)
    -

    Reserve memory for n biarcs

    +

    Reserve memory for n biarcs.

    @@ -158,7 +158,7 @@

    Class Documentationvoid copy(BiarcList const &L)
    -

    Copy another biarc spline

    +

    Copy another biarc spline.

    @@ -167,7 +167,7 @@

    Class Documentationinline BiarcList const &operator=(BiarcList const &s)
    -

    copy another biarc spline

    +

    Copy another biarc spline.

    @@ -176,7 +176,7 @@

    Class Documentationexplicit BiarcList(LineSegment const &LS)
    -

    Build a biarc list from a line segment

    +

    Build a biarc list from a line segment.

    @@ -185,7 +185,7 @@

    Class Documentationexplicit BiarcList(CircleArc const &C)
    -

    Build a biarc list from a single circle arc

    +

    Build a biarc list from a single circle arc.

    @@ -194,7 +194,7 @@

    Class Documentationexplicit BiarcList(Biarc const &C)
    -

    Build a biarc list from a single biarc

    +

    Build a biarc list from a single biarc.

    @@ -203,7 +203,7 @@

    Class Documentationexplicit BiarcList(PolyLine const &pl)
    -

    Build a biarc list from a single polyline

    +

    Build a biarc list from a single polyline.

    @@ -212,7 +212,7 @@

    Class Documentationexplicit BiarcList(BaseCurve const &C)
    -

    Build a biarc list from another curve

    +

    Build a biarc list from another curve.

    @@ -221,7 +221,7 @@

    Class Documentationvoid push_back(LineSegment const &c)
    -

    Append a line segment to the biarc list (transformed to a degenerate biarc)

    +

    Append a line segment to the biarc list (transformed to a degenerate biarc).

    @@ -230,7 +230,7 @@

    Class Documentationvoid push_back(CircleArc const &c)
    -

    Append a line circle to the biarc list (transformed to a degenerate biarc)

    +

    Append a line circle to the biarc list (transformed to a degenerate biarc).

    @@ -239,7 +239,7 @@

    Class Documentationvoid push_back(Biarc const &c)
    -

    Append a biarc to the biarc list

    +

    Append a biarc to the biarc list.

    @@ -248,7 +248,7 @@

    Class Documentationvoid push_back(PolyLine const &c)
    -

    Append a polyline to the biarc list (transformed to a list of degenerate biarc)

    +

    Append a polyline to the biarc list (transformed to a list of degenerate biarc).

    @@ -317,7 +317,7 @@

    Class Documentationbool build_G1(int_type n, real_type const *x, real_type const *y, real_type const *theta)
    -

    Construct a biarc list passing to the points \( (x_i,y_i) \) with angles \( \theta_i \)

    +

    Construct a biarc list passing to the points \( (x_i,y_i) \) with angles \( \theta_i \).

    Parameters
    @@ -337,7 +337,7 @@

    Class DocumentationBiarc const &get(int_type idx) const
    -

    Get the idx-th biarc

    +

    Get the idx-th biarc.

    @@ -346,7 +346,7 @@

    Class DocumentationBiarc const &getAtS(real_type s) const
    -

    Get the biarc that contain the curvilinear coordinate s

    +

    Get the biarc that contain the curvilinear coordinate s.

    @@ -355,7 +355,7 @@

    Class Documentationinline int_type numSegments() const
    -

    Return the number of biarc in the biarc list

    +

    Return the number of biarc in the biarc list.

    @@ -364,7 +364,7 @@

    Class Documentationint_type findAtS(real_type &s) const
    -

    Get the of the biarc that contain the curvilinear coordinate s

    +

    Get the of the biarc that contain the curvilinear coordinate s.

    @@ -391,7 +391,7 @@

    Class Documentationreal_type segment_length(int_type nseg) const
    -

    The length of the nseg-th biarc

    +

    The length of the nseg-th biarc.

    @@ -400,7 +400,7 @@

    Class Documentationreal_type segment_length_ISO(int_type nseg, real_type offs) const
    -

    The length of the nseg-th biarc with offset offs

    +

    The length of the nseg-th biarc with offset offs.

    @@ -1252,7 +1252,7 @@

    Class Documentationvoid getSTK(real_type *s, real_type *theta, real_type *kappa) const
    -

    Return the biarc as a list of nodes angles and curvatures

    +

    Return the biarc as a list of nodes angles and curvatures.

    Parameters
    @@ -1339,7 +1339,7 @@

    Class Documentationbool collision(BiarcList const &C) const
    -

    detect a collision with another biarc list

    +

    Detect a collision with another biarc list.

    @@ -1348,7 +1348,7 @@

    Class Documentationbool collision_ISO(real_type offs, BiarcList const &CL, real_type offs_C) const
    -

    Detect a collision with another biarc list with offset

    +

    Detect a collision with another biarc list with offset.

    Parameters
    @@ -1386,7 +1386,7 @@

    Class Documentationvoid intersect_ISO(real_type offs, BiarcList const &CL, real_type offs_obj, IntersectList &ilist, bool swap_s_vals) const
    -

    Intersect a biarc list with another biarc list with offset (ISO)

    +

    Intersect a biarc list with another biarc list with offset (ISO).

    Parameters
    diff --git a/docs/api-cpp/class_a00143.html b/docs/api-cpp/class_a00143.html index 3bfa2c88..95ecbb6d 100644 --- a/docs/api-cpp/class_a00143.html +++ b/docs/api-cpp/class_a00143.html @@ -7,7 +7,7 @@ - Class CircleArc — Clothoids v2.0.7 + <title>Class CircleArc — Clothoids v2.0.8 @@ -121,7 +121,7 @@

    Class Documentationinline CircleArc(CircleArc const &s)
    -

    Build a copy of an existing circle arc

    +

    Build a copy of an existing circle arc.

    @@ -130,7 +130,7 @@

    Class Documentationinline explicit CircleArc(real_type x0, real_type y0, real_type theta0, real_type k, real_type L)
    -

    Construct a circle arc with the standard parameters

    +

    Construct a circle arc with the standard parameters.

    Parameters
    @@ -151,7 +151,7 @@

    Class Documentationinline explicit CircleArc(LineSegment const &LS)
    -

    construct a circle arc from a line segment (degenerate circle)

    +

    Construct a circle arc from a line segment (degenerate circle).

    @@ -160,7 +160,7 @@

    Class Documentationinline void copy(CircleArc const &c)
    -

    make a copy of an existing circle arc

    +

    Make a copy of an existing circle arc.

    @@ -169,7 +169,7 @@

    Class Documentationexplicit CircleArc(BaseCurve const &C)
    -

    Build a circle arc from a generic curve (if possibile)

    +

    Build a circle arc from a generic curve (if possibile).

    @@ -178,7 +178,7 @@

    Class Documentationinline CircleArc const &operator=(CircleArc const &s)
    -

    make a copy of an existing circle arc

    +

    Make a copy of an existing circle arc.

    @@ -187,7 +187,7 @@

    Class Documentationinline void build(real_type x0, real_type y0, real_type theta0, real_type k, real_type L)
    -

    Construct a circle arc with the standard parameters

    +

    Construct a circle arc with the standard parameters.

    Parameters
    @@ -208,7 +208,7 @@

    Class Documentationbool build_G1(real_type x0, real_type y0, real_type theta0, real_type x1, real_type y1)
    -

    Build a circle by solving the hermite G1 problem

    +

    Build a circle by solving the hermite G1 problem.

    Parameters
    @@ -233,7 +233,7 @@

    Class Documentationbool build_3P(real_type x0, real_type y0, real_type x1, real_type y1, real_type x2, real_type y2)
    -

    Build a circle passing by 3 points

    +

    Build a circle passing by 3 points.

    Parameters
    @@ -259,7 +259,7 @@

    Class Documentationbool bbTriangle(real_type &x0, real_type &y0, real_type &x1, real_type &y1, real_type &x2, real_type &y2) const
    -

    Get the bounding box triangle (if angle variation less that pi/3)

    +

    Get the bounding box triangle (if angle variation less that pi/3).

    Parameters
    @@ -285,7 +285,7 @@

    Class Documentationbool bbTriangle_ISO(real_type offs, real_type &x0, real_type &y0, real_type &x1, real_type &y1, real_type &x2, real_type &y2) const
    -

    Get the bounding box triangle of the circle arc with offset (if angle variation less that \( \pi/3 \))

    +

    Get the bounding box triangle of the circle arc with offset (if angle variation less that \( \pi/3 \)).

    Parameters
    @@ -312,7 +312,7 @@

    Class Documentationinline bool bbTriangle_SAE(real_type offs, real_type &x0, real_type &y0, real_type &x1, real_type &y1, real_type &x2, real_type &y2) const
    -

    Get the bounding box triangle of the circle arc with offset if angle variation less that \( \pi/3 \))

    +

    Get the bounding box triangle of the circle arc with offset if angle variation less that \( \pi/3 \)).

    Parameters
    @@ -339,7 +339,7 @@

    Class Documentationinline bool bbTriangle(real_type *p0, real_type *p1, real_type *p2) const
    -

    Get the bounding box triangle of the circle (if angle variation less that \( \pi/3 \))

    +

    Get the bounding box triangle of the circle (if angle variation less that \( \pi/3 \)).

    Parameters
    @@ -362,7 +362,7 @@

    Class Documentationinline bool bbTriangle_ISO(real_type offs, real_type *p0, real_type *p1, real_type *p2) const
    -

    Get the bounding box triangle of the circle arc with offset (if angle variation less that \( \pi/3 \))

    +

    Get the bounding box triangle of the circle arc with offset (if angle variation less that \( \pi/3 \)).

    Parameters
    @@ -386,7 +386,7 @@

    Class Documentationinline bool bbTriangle_SAE(real_type offs, real_type *p0, real_type *p1, real_type *p2) const
    -

    Get the bounding box triangle of the circle arc with offset (if angle variation less that \( \pi/3 \))

    +

    Get the bounding box triangle of the circle arc with offset (if angle variation less that \( \pi/3 \)).

    Parameters
    @@ -410,7 +410,7 @@

    Class Documentationinline bool bbTriangle(Triangle2D &t, real_type ss0 = 0, real_type ss1 = 0, int_type icurve = 0) const
    -

    Get the bounding box triangle list of the circle arc

    +

    Get the bounding box triangle list of the circle arc.

    Parameters
    @@ -434,7 +434,7 @@

    Class Documentationinline bool bbTriangle_ISO(real_type offs, Triangle2D &t, real_type ss0 = 0, real_type ss1 = 0, int_type icurve = 0) const
    -

    Get the bounding box triangle list of the circle arc with offset

    +

    Get the bounding box triangle list of the circle arc with offset.

    Parameters
    @@ -459,7 +459,7 @@

    Class Documentationinline bool bbTriangle_SAE(real_type offs, Triangle2D &t, real_type ss0 = 0, real_type ss1 = 0, int_type icurve = 0) const
    -

    Get the bounding box triangle list of the circle arc with offset

    +

    Get the bounding box triangle list of the circle arc with offset.

    Parameters
    @@ -484,7 +484,7 @@

    Class Documentationvirtual void bbTriangles(std::vector<Triangle2D> &tvec, real_type max_angle = Utils::m_pi / 18, real_type max_size = 1e100, int_type icurve = 0) const override
    -

    Get the bounding box triangle list of the circle arc with offset

    +

    Get the bounding box triangle list of the circle arc with offset.

    Parameters
    @@ -504,7 +504,7 @@

    Class Documentationvirtual void bbTriangles_ISO(real_type offs, std::vector<Triangle2D> &tvec, real_type max_angle = Utils::m_pi / 18, real_type max_size = 1e100, int_type icurve = 0) const override
    -

    Get the bounding box triangle list of the circle arc with offset

    +

    Get the bounding box triangle list of the circle arc with offset.

    Parameters
    @@ -525,7 +525,7 @@

    Class Documentationinline virtual void bbTriangles_SAE(real_type offs, std::vector<Triangle2D> &tvec, real_type max_angle = Utils::m_pi / 18, real_type max_size = 1e100, int_type icurve = 0) const override
    -

    Get the bounding box triangle list of the circle arc with offset

    +

    Get the bounding box triangle list of the circle arc with offset.

    Parameters
    @@ -1087,7 +1087,7 @@

    Class Documentationbool collision(CircleArc const&) const
    -

    detect a collision with another circle arc

    +

    Detect a collision with another circle arc.

    @@ -1096,7 +1096,7 @@

    Class Documentationbool collision_ISO(real_type offs, CircleArc const &C, real_type offs_obj) const
    -

    Detect a collision with another circle arc with offset

    +

    Detect a collision with another circle arc with offset.

    Parameters
    @@ -1115,7 +1115,7 @@

    Class Documentationvoid intersect(CircleArc const &obj, IntersectList &ilist, bool swap_s_vals) const
    -

    Intersect a circle arc with another circle arc

    +

    Intersect a circle arc with another circle arc.

    Parameters
    @@ -1134,7 +1134,7 @@

    Class Documentationvoid intersect_ISO(real_type offs, CircleArc const &C, real_type offs_obj, IntersectList &ilist, bool swap_s_vals) const
    -

    Intersect a circle arc with another circle arc with offset (ISO)

    +

    Intersect a circle arc with another circle arc with offset (ISO).

    Parameters
    @@ -1155,7 +1155,7 @@

    Class Documentationinline real_type sinTheta0() const
    -

    Return \( \sin \theta_0 \) where \( \theta_0 \) is the initial tangent angle

    +

    Return \( \sin \theta_0 \) where \( \theta_0 \) is the initial tangent angle.

    @@ -1164,7 +1164,7 @@

    Class Documentationinline real_type cosTheta0() const
    -

    Return \( \cos \theta_0 \) where \( \theta_0 \) is the initial tangent angle

    +

    Return \( \cos \theta_0 \) where \( \theta_0 \) is the initial tangent angle.

    @@ -1173,7 +1173,7 @@

    Class Documentationinline real_type curvature() const
    -

    Return curvature of the circle arc

    +

    Return curvature of the circle arc.

    @@ -1182,7 +1182,7 @@

    Class Documentationreal_type lenTolerance(real_type tol) const
    -

    Return the length of the arc that can approximated by a line segment

    +

    Return the length of the arc that can approximated by a line segment.

    @@ -1191,7 +1191,7 @@

    Class Documentationinline real_type delta_theta() const
    -

    Return the tangent angle variation in the circle arc

    +

    Return the tangent angle variation in the circle arc.

    @@ -1200,7 +1200,7 @@

    Class Documentationinline real_type thetaTotalVariation() const
    -

    Return the absolute value of the tangent angle variation in the circle arc

    +

    Return the absolute value of the tangent angle variation in the circle arc.

    @@ -1209,7 +1209,7 @@

    Class Documentationreal_type thetaMinMax(real_type &thMin, real_type &thMax) const
    -

    Minimum and maximum tangent angle

    +

    Minimum and maximum tangent angle.

    Parameters
    @@ -1231,7 +1231,7 @@

    Class Documentationinline real_type deltaTheta() const
    -

    Minimum and maximum tangent angle

    +

    Minimum and maximum tangent angle.

    Parameters
    @@ -1253,7 +1253,7 @@

    Class Documentationvoid changeCurvilinearOrigin(real_type s0, real_type newL)
    -

    Change the origin of the circle arc at \( s_0 \) and the length of the arc to \( L \)

    +

    Change the origin of the circle arc at \( s_0 \) and the length of the arc to \( L \).

    Parameters
    @@ -1271,7 +1271,7 @@

    Class Documentationvoid center(real_type &cx, real_type &cy) const
    -

    Get the center of the circle arc \( (c_x,c_y) \)

    +

    Get the center of the circle arc \( (c_x,c_y) \).

    Parameters
    @@ -1289,7 +1289,7 @@

    Class Documentationinline real_type ray() const
    -

    Get the ray of the circle arc

    +

    Get the ray of the circle arc.

    @@ -1298,7 +1298,7 @@

    Class Documentationvoid paramNURBS(int_type &n_knots, int_type &n_pnts) const
    -

    Get the parameters to build a NURBS for the circle ars

    +

    Get the parameters to build a NURBS for the circle ars.

    Parameters
    @@ -1316,7 +1316,7 @@

    Class Documentationvoid toNURBS(real_type *knots, real_type Poly[][3]) const
    -

    Get the parameters to build a NURBS for the circle ars

    +

    Get the parameters to build a NURBS for the circle ars.

    Parameters
    @@ -2441,7 +2441,7 @@

    Class Documentationfriend ostream_type &operator<<(ostream_type &stream, CircleArc const &c)
    -

    pretty print circle arc

    +

    Pretty print circle arc.

    diff --git a/docs/api-cpp/class_a00147.html b/docs/api-cpp/class_a00147.html index 8e62cd84..2e864cc3 100644 --- a/docs/api-cpp/class_a00147.html +++ b/docs/api-cpp/class_a00147.html @@ -7,7 +7,7 @@ - Class ClothoidCurve — Clothoids v2.0.7 + <title>Class ClothoidCurve — Clothoids v2.0.8 @@ -137,7 +137,7 @@

    Class Documentationinline explicit ClothoidCurve(real_type x0, real_type y0, real_type theta0, real_type k, real_type dk, real_type L)
    -

    Construct a clothoid with the standard parameters

    +

    Construct a clothoid with the standard parameters.

    Parameters
    @@ -159,7 +159,7 @@

    Class Documentationinline explicit ClothoidCurve(real_type const *P0, real_type theta0, real_type const *P1, real_type theta1)
    -

    Construct a clothoid \( \G(s) \) solving the G1 problem

    +

    Construct a clothoid \( \G(s) \) solving the G1 problem.

    \[\begin{split} \begin{cases} G(0) = \mathbf{p}_0 & \\[1em] G(L) = \mathbf{p}_1 & \\[1em] G'(0) = (\cos\theta_0,\sin\theta_0)^T & \\[1em] G'(L) = (\cos\theta_1,\sin\theta_1)^T & \\[1em] \end{cases} \end{split}\]
    @@ -183,7 +183,7 @@

    Class Documentationinline void copy(ClothoidCurve const &c)
    -

    Build a clothoid copying an existing one

    +

    Build a clothoid copying an existing one.

    @@ -192,7 +192,7 @@

    Class Documentationinline explicit ClothoidCurve(LineSegment const &LS)
    -

    Build a clothoid copying an existing line segment

    +

    Build a clothoid copying an existing line segment.

    @@ -201,7 +201,7 @@

    Class Documentationinline explicit ClothoidCurve(CircleArc const &C)
    -

    Build a clothoid copying an existing circle arc

    +

    Build a clothoid copying an existing circle arc.

    @@ -210,7 +210,7 @@

    Class Documentationexplicit ClothoidCurve(BaseCurve const &C)
    -

    Build a clothoid copying an existing curve

    +

    Build a clothoid copying an existing curve.

    @@ -219,7 +219,7 @@

    Class Documentationinline ClothoidCurve const &operator=(ClothoidCurve const &s)
    -

    copy an existing clothoid

    +

    Copy an existing clothoid.

    @@ -250,7 +250,7 @@

    Class Documentationinline int build_G1(real_type x0, real_type y0, real_type theta0, real_type x1, real_type y1, real_type theta1, real_type tol = 1e-12)
    -

    Build a clothoid by solving the hermite G1 problem

    +

    Build a clothoid by solving the hermite G1 problem.

    Parameters
    @@ -277,7 +277,7 @@

    Class Documentationinline int build_G1_D(real_type x0, real_type y0, real_type theta0, real_type x1, real_type y1, real_type theta1, real_type L_D[2], real_type k_D[2], real_type dk_D[2], real_type tol = 1e-12)
    -

    Build a clothoid by solving the hermite G1 problem

    +

    Build a clothoid by solving the hermite G1 problem.

    Parameters
    @@ -307,7 +307,7 @@

    Class Documentationinline bool build_forward(real_type x0, real_type y0, real_type theta0, real_type kappa0, real_type x1, real_type y1, real_type tol = 1e-12)
    -

    Build a clothoid by solving the forward problem

    +

    Build a clothoid by solving the forward problem.

    Parameters
    @@ -330,7 +330,7 @@

    Class Documentationinline void build(LineSegment const &LS)
    -

    Build a clothoid from a line segment

    +

    Build a clothoid from a line segment.

    @@ -339,7 +339,7 @@

    Class Documentationinline void build(CircleArc const &C)
    -

    Build a clothoid from a circle arc

    +

    Build a clothoid from a circle arc.

    @@ -348,18 +348,20 @@

    Class Documentationinline void Pinfinity(real_type &x, real_type &y, bool plus = true) const
    +

    Return the point at infinity of the clothoids \( P(s) \).

    -
    -
    Return the point at infinity of the clothoids \f$ P(s) \f$
-
-\param[out] x    x-coordinate of the infinity point
-\param[out] y    y-coordinate of the infinity point
-\param[out] plus it true return \f$ \lim_{s\to+\infty} P(s) \f$
-                 otherwise return \f$ \lim_{s\to-\infty} P(s) \f$
-
    -
    -

    ../_images/Pinfinity.jpg

    +

    ../_images/Pinfinity.jpg

    +
    +
    Parameters
    +
    +
      +

    • x – [out] x-coordinate of the infinity point

      • +

    • y – [out] y-coordinate of the infinity point

      • +

    • plus – [out] it true return \( \lim_{s\to+\infty} P(s) \) otherwise return \( \lim_{s\to-\infty} P(s) \)

      • +
    +
    +

    @@ -368,7 +370,7 @@

    Class Documentationinline real_type dkappa() const
    -

    derivative of the curvature of the clothoid

    +

    Derivative of the curvature of the clothoid.

    @@ -377,7 +379,7 @@

    Class Documentationreal_type thetaTotalVariation() const
    -

    clothoid curve total variation of the angle

    +

    Clothoid curve total variation of the angle.

    @@ -386,7 +388,7 @@

    Class Documentationreal_type thetaMinMax(real_type &thMin, real_type &thMax) const
    -

    max and min angle of the curve

    +

    Max and min angle of the curve.

    @@ -395,7 +397,7 @@

    Class Documentationinline real_type deltaTheta() const
    -

    clothoid angle range

    +

    Clothoid angle range.

    @@ -404,7 +406,7 @@

    Class Documentationreal_type curvatureMinMax(real_type &kMin, real_type &kMax) const
    -

    max and min of the curvatire of the clothoid curve

    +

    Max and min of the curvatire of the clothoid curve.

    @@ -413,7 +415,7 @@

    Class Documentationreal_type curvatureTotalVariation() const
    -

    clothoid total curvature variation

    +

    Clothoid total curvature variation.

    @@ -422,7 +424,7 @@

    Class Documentationreal_type integralCurvature2() const
    -

    Given the clothoid curve \( P(s) \) compute

    +

    Given the clothoid curve \( P(s) \) compute.

    \[ \int_0^L |P''(s)|^2 \mathrm{d}s \]
    @@ -435,7 +437,7 @@

    Class Documentationreal_type integralJerk2() const
    -

    Given the clothoid curve \( P(s) \) compute

    +

    Given the clothoid curve \( P(s) \) compute.

    \[ \int_0^L |P'''(s)|^2 \mathrm{d}s \]
    @@ -448,7 +450,7 @@

    Class Documentationreal_type integralSnap2() const
    -

    Given the clothoid curve \( P(s) \) compute

    +

    Given the clothoid curve \( P(s) \) compute.

    \[ \int_0^L |P''''(s)|^2 \mathrm{d}s \]
    @@ -579,7 +581,7 @@

    Class Documentationinline bool bbTriangle(real_type &xx0, real_type &yy0, real_type &xx1, real_type &yy1, real_type &xx2, real_type &yy2) const
    -

    get the triangle bounding box (if angle variation less that pi/2)

    +

    Get the triangle bounding box (if angle variation less that \( \pi/2 \) )

    @@ -588,7 +590,7 @@

    Class Documentationinline bool bbTriangle_ISO(real_type offs, real_type &xx0, real_type &yy0, real_type &xx1, real_type &yy1, real_type &xx2, real_type &yy2) const
    -

    get the triangle bounding box (if angle variation less that pi/2)

    +

    Get the triangle bounding box (if angle variation less that \( \pi/2 \))

    @@ -597,7 +599,7 @@

    Class Documentationinline bool bbTriangle_SAE(real_type offs, real_type &xx0, real_type &yy0, real_type &xx1, real_type &yy1, real_type &xx2, real_type &yy2) const
    -

    get the triangle bounding box (if angle variation less that pi/2)

    +

    Get the triangle bounding box (if angle variation less that \( \pi/2 \))

    @@ -949,7 +951,7 @@

    Class Documentationinline virtual real_type theta(real_type s) const override
    -

    get clothoid angle at curvilinear cooordinate s

    +

    Get clothoid angle at curvilinear cooordinate s.

    Parameters
    @@ -968,7 +970,7 @@

    Class Documentationinline virtual real_type theta_D(real_type s) const override
    -

    get clothoid angle derivative (=curvature) at curvilinear cooordinate s

    +

    Get clothoid angle derivative (=curvature) at curvilinear cooordinate s.

    Parameters
    @@ -987,7 +989,7 @@

    Class Documentationinline virtual real_type theta_DD(real_type) const override
    -

    Get clothoid angle second derivative at curvilinear cooordinate s

    +

    Get clothoid angle second derivative at curvilinear cooordinate s.

    Returns
    @@ -1002,7 +1004,7 @@

    Class Documentationinline virtual real_type theta_DDD(real_type) const override
    -

    Get clothoid angle third derivative at curvilinear cooordinate s

    +

    Get clothoid angle third derivative at curvilinear cooordinate s.

    Returns
    @@ -1017,7 +1019,7 @@

    Class Documentationinline virtual real_type X(real_type s) const override
    -

    Clothoid X coordinate at curvilinear coordinate s

    +

    Clothoid X coordinate at curvilinear coordinate s.

    Parameters
    @@ -1063,7 +1065,7 @@

    Class Documentationinline virtual real_type Y(real_type s) const override
    -

    Clothoid Y coordinate at curvilinear coordinate s

    +

    Clothoid Y coordinate at curvilinear coordinate s.

    Parameters
    @@ -1109,7 +1111,7 @@

    Class Documentationinline virtual real_type X_ISO(real_type s, real_type offs) const override
    -

    Clothoid X coordinate at curvilinear coordinate s

    +

    Clothoid X coordinate at curvilinear coordinate s.

    Parameters
    @@ -1158,7 +1160,7 @@

    Class Documentationinline virtual real_type Y_ISO(real_type s, real_type offs) const override
    -

    Clothoid Y coordinate at curvilinear coordinate s

    +

    Clothoid Y coordinate at curvilinear coordinate s.

    Parameters
    @@ -1387,7 +1389,7 @@

    Class Documentationinline void changeCurvilinearOrigin(real_type s0, real_type newL)
    -

    change the origin of the clothoid at \( s_0 \) and the length to \( L \)

    +

    change the origin of the clothoid at \( s_0 \) and the length to \( L \).

    Parameters
    diff --git a/docs/api-cpp/class_a00151.html b/docs/api-cpp/class_a00151.html index 57f8f80a..33e59537 100644 --- a/docs/api-cpp/class_a00151.html +++ b/docs/api-cpp/class_a00151.html @@ -7,7 +7,7 @@ - Class AsyPlot — Clothoids v2.0.7 + <title>Class AsyPlot — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00155.html b/docs/api-cpp/class_a00155.html index 284b4385..4f0fa355 100644 --- a/docs/api-cpp/class_a00155.html +++ b/docs/api-cpp/class_a00155.html @@ -7,7 +7,7 @@ - Class G2solve2arc — Clothoids v2.0.7 + <title>Class G2solve2arc — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00159.html b/docs/api-cpp/class_a00159.html index c92c94d8..7a65ba5a 100644 --- a/docs/api-cpp/class_a00159.html +++ b/docs/api-cpp/class_a00159.html @@ -7,7 +7,7 @@ - Class G2solveCLC — Clothoids v2.0.7 + <title>Class G2solveCLC — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00163.html b/docs/api-cpp/class_a00163.html index 43185afb..f86923c1 100644 --- a/docs/api-cpp/class_a00163.html +++ b/docs/api-cpp/class_a00163.html @@ -7,7 +7,7 @@ - Class G2solve3arc — Clothoids v2.0.7 + <title>Class G2solve3arc — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00167.html b/docs/api-cpp/class_a00167.html index a3cca7a8..b3d0b385 100644 --- a/docs/api-cpp/class_a00167.html +++ b/docs/api-cpp/class_a00167.html @@ -7,7 +7,7 @@ - Class ClothoidList — Clothoids v2.0.7 + <title>Class ClothoidList — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00171.html b/docs/api-cpp/class_a00171.html index 617857e0..7e6846b7 100644 --- a/docs/api-cpp/class_a00171.html +++ b/docs/api-cpp/class_a00171.html @@ -7,7 +7,7 @@ - Class ClothoidSplineG2 — Clothoids v2.0.7 + <title>Class ClothoidSplineG2 — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00175.html b/docs/api-cpp/class_a00175.html index 0402b69a..3837ff01 100644 --- a/docs/api-cpp/class_a00175.html +++ b/docs/api-cpp/class_a00175.html @@ -7,7 +7,7 @@ - Class Solve2x2 — Clothoids v2.0.7 + <title>Class Solve2x2 — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00179.html b/docs/api-cpp/class_a00179.html index add817f5..921f881a 100644 --- a/docs/api-cpp/class_a00179.html +++ b/docs/api-cpp/class_a00179.html @@ -7,7 +7,7 @@ - Class LineSegment — Clothoids v2.0.7 + <title>Class LineSegment — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00183.html b/docs/api-cpp/class_a00183.html index 1c6dc29f..acd02a7e 100644 --- a/docs/api-cpp/class_a00183.html +++ b/docs/api-cpp/class_a00183.html @@ -7,7 +7,7 @@ - Class PolyLine — Clothoids v2.0.7 + <title>Class PolyLine — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_a00187.html b/docs/api-cpp/class_a00187.html index 147d65b6..c6b864e3 100644 --- a/docs/api-cpp/class_a00187.html +++ b/docs/api-cpp/class_a00187.html @@ -7,7 +7,7 @@ - Class Triangle2D — Clothoids v2.0.7 + <title>Class Triangle2D — Clothoids v2.0.8 diff --git a/docs/api-cpp/class_view_hierarchy.html b/docs/api-cpp/class_view_hierarchy.html index 4291579d..81fb9254 100644 --- a/docs/api-cpp/class_view_hierarchy.html +++ b/docs/api-cpp/class_view_hierarchy.html @@ -7,7 +7,7 @@ - Class Hierarchy — Clothoids v2.0.7 + <title>Class Hierarchy — Clothoids v2.0.8 diff --git a/docs/api-cpp/define_a00098_1a50b619e42946f472ff4030e0bbd74f2e.html b/docs/api-cpp/define_a00098_1a50b619e42946f472ff4030e0bbd74f2e.html new file mode 100644 index 00000000..debdbd4c --- /dev/null +++ b/docs/api-cpp/define_a00098_1a50b619e42946f472ff4030e0bbd74f2e.html @@ -0,0 +1,181 @@ + + + + + + + + + + Define G2LIB_DEBUG_MESSAGE — Clothoids v2.0.8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    + + +
    + + +
    +
    +
    +
    + +
    +

    Define G2LIB_DEBUG_MESSAGE +

    + +
    +

    Define Documentation +

    +
    +
    +G2LIB_DEBUG_MESSAGE(...)
    +
    +
    +
    + +
    +
    + + + +
    +
    +
    +
    + + + +
    + + + +
    + +
    +
    +
    + + +
    + + + + + \ No newline at end of file diff --git a/docs/api-cpp/define_a00098_1a63bbd8df6d42adcde1ee08612a004742.html b/docs/api-cpp/define_a00098_1a63bbd8df6d42adcde1ee08612a004742.html index 7dc33e7d..e0970b60 100644 --- a/docs/api-cpp/define_a00098_1a63bbd8df6d42adcde1ee08612a004742.html +++ b/docs/api-cpp/define_a00098_1a63bbd8df6d42adcde1ee08612a004742.html @@ -7,7 +7,7 @@ - Define G2LIB_USE_CXX11 — Clothoids v2.0.7 + <title>Define G2LIB_USE_CXX11 — Clothoids v2.0.8 @@ -43,8 +43,8 @@ - - + +
    @@ -59,10 +59,10 @@

    Navigation

    toc    
  • - next    
  • - previous    
  • Clothoids »
    • @@ -159,10 +159,10 @@

    Navigation

    toc    
  • - next    
  • - previous    
  • Clothoids »
    • diff --git a/docs/api-cpp/define_a00098_1ab80a1f996b6c8ba6a757bfde8c3689b6.html b/docs/api-cpp/define_a00098_1ab80a1f996b6c8ba6a757bfde8c3689b6.html new file mode 100644 index 00000000..6f730031 --- /dev/null +++ b/docs/api-cpp/define_a00098_1ab80a1f996b6c8ba6a757bfde8c3689b6.html @@ -0,0 +1,181 @@ + + + + + + + + + + Define GLIB2_TOL_ANGLE — Clothoids v2.0.8 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    + + +
    + + +
    +
    +
    +
    + +
    +

    Define GLIB2_TOL_ANGLE +

    + +
    +

    Define Documentation +

    +
    +
    +GLIB2_TOL_ANGLE
    +
    +
    +
    + +
    +
    + + + +
    +
    +
    +
    + + + +
    + + + +
    + +
    +
    +
    + + +
    + + + + + \ No newline at end of file diff --git a/docs/api-cpp/define_a00098_1ad3b2b8f6737fe03a8b92631f17344d5b.html b/docs/api-cpp/define_a00098_1ad3b2b8f6737fe03a8b92631f17344d5b.html index 15f3a048..88b27da7 100644 --- a/docs/api-cpp/define_a00098_1ad3b2b8f6737fe03a8b92631f17344d5b.html +++ b/docs/api-cpp/define_a00098_1ad3b2b8f6737fe03a8b92631f17344d5b.html @@ -7,7 +7,7 @@ - Define CLOTHOIDS_dot_HH — Clothoids v2.0.7 + <title>Define CLOTHOIDS_dot_HH — Clothoids v2.0.8 @@ -43,7 +43,7 @@ - + @@ -59,7 +59,7 @@

    Navigation

    toc    
  • - next    
  • Navigation

    • toc    
  • - next    
  • - Directory Clothoids — Clothoids v2.0.7 + <title>Directory Clothoids — Clothoids v2.0.8 diff --git a/docs/api-cpp/enum_a00119_1a1974f42820495e201e07e508799543c3.html b/docs/api-cpp/enum_a00119_1a1974f42820495e201e07e508799543c3.html index 06f8c5a0..c231e4e9 100644 --- a/docs/api-cpp/enum_a00119_1a1974f42820495e201e07e508799543c3.html +++ b/docs/api-cpp/enum_a00119_1a1974f42820495e201e07e508799543c3.html @@ -7,7 +7,7 @@ - Enum CurveType — Clothoids v2.0.7 + <title>Enum CurveType — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_AABBtree.cc.html b/docs/api-cpp/file_AABBtree.cc.html index 1f560e70..33ef18c1 100644 --- a/docs/api-cpp/file_AABBtree.cc.html +++ b/docs/api-cpp/file_AABBtree.cc.html @@ -7,7 +7,7 @@ - File AABBtree.cc — Clothoids v2.0.7 + <title>File AABBtree.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Biarc.cc.html b/docs/api-cpp/file_Biarc.cc.html index 7ce66abd..dc061d90 100644 --- a/docs/api-cpp/file_Biarc.cc.html +++ b/docs/api-cpp/file_Biarc.cc.html @@ -7,7 +7,7 @@ - File Biarc.cc — Clothoids v2.0.7 + <title>File Biarc.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_BiarcList.cc.html b/docs/api-cpp/file_BiarcList.cc.html index 6c34cf80..ae8847bd 100644 --- a/docs/api-cpp/file_BiarcList.cc.html +++ b/docs/api-cpp/file_BiarcList.cc.html @@ -7,7 +7,7 @@ - File BiarcList.cc — Clothoids v2.0.7 + <title>File BiarcList.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Circle.cc.html b/docs/api-cpp/file_Circle.cc.html index e7dbcd9b..e3935401 100644 --- a/docs/api-cpp/file_Circle.cc.html +++ b/docs/api-cpp/file_Circle.cc.html @@ -7,7 +7,7 @@ - File Circle.cc — Clothoids v2.0.7 + <title>File Circle.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoid.cc.html b/docs/api-cpp/file_Clothoid.cc.html index 938313b6..610cb6e4 100644 --- a/docs/api-cpp/file_Clothoid.cc.html +++ b/docs/api-cpp/file_Clothoid.cc.html @@ -7,7 +7,7 @@ - File Clothoid.cc — Clothoids v2.0.7 + <title>File Clothoid.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_ClothoidAsyPlot.cc.html b/docs/api-cpp/file_ClothoidAsyPlot.cc.html index 5bcbc9e5..18572ab4 100644 --- a/docs/api-cpp/file_ClothoidAsyPlot.cc.html +++ b/docs/api-cpp/file_ClothoidAsyPlot.cc.html @@ -7,7 +7,7 @@ - File ClothoidAsyPlot.cc — Clothoids v2.0.7 + <title>File ClothoidAsyPlot.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_ClothoidDistance.cc.html b/docs/api-cpp/file_ClothoidDistance.cc.html index 578b8b23..8694145d 100644 --- a/docs/api-cpp/file_ClothoidDistance.cc.html +++ b/docs/api-cpp/file_ClothoidDistance.cc.html @@ -7,7 +7,7 @@ - File ClothoidDistance.cc — Clothoids v2.0.7 + <title>File ClothoidDistance.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_ClothoidG2.cc.html b/docs/api-cpp/file_ClothoidG2.cc.html index 241df7de..21b9a59a 100644 --- a/docs/api-cpp/file_ClothoidG2.cc.html +++ b/docs/api-cpp/file_ClothoidG2.cc.html @@ -7,7 +7,7 @@ - File ClothoidG2.cc — Clothoids v2.0.7 + <title>File ClothoidG2.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_ClothoidList.cc.html b/docs/api-cpp/file_ClothoidList.cc.html index 5ecfcc36..34a82d93 100644 --- a/docs/api-cpp/file_ClothoidList.cc.html +++ b/docs/api-cpp/file_ClothoidList.cc.html @@ -7,7 +7,7 @@ - File ClothoidList.cc — Clothoids v2.0.7 + <title>File ClothoidList.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids.hh.html b/docs/api-cpp/file_Clothoids.hh.html index 201b7d3f..17f21d8c 100644 --- a/docs/api-cpp/file_Clothoids.hh.html +++ b/docs/api-cpp/file_Clothoids.hh.html @@ -7,7 +7,7 @@ - File Clothoids.hh — Clothoids v2.0.7 + <title>File Clothoids.hh — Clothoids v2.0.8 @@ -156,7 +156,9 @@

    Defines

  • Define CLOTHOIDS_dot_HH

    • +

  • Define G2LIB_DEBUG_MESSAGE

  • Define G2LIB_USE_CXX11

    • +

  • Define GLIB2_TOL_ANGLE

    • diff --git a/docs/api-cpp/file_Clothoids_AABBtree.hxx.html b/docs/api-cpp/file_Clothoids_AABBtree.hxx.html index 619e5452..5ae3140a 100644 --- a/docs/api-cpp/file_Clothoids_AABBtree.hxx.html +++ b/docs/api-cpp/file_Clothoids_AABBtree.hxx.html @@ -7,7 +7,7 @@ - File AABBtree.hxx — Clothoids v2.0.7 + <title>File AABBtree.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_BaseCurve.hxx.html b/docs/api-cpp/file_Clothoids_BaseCurve.hxx.html index e4a51ab9..8495a513 100644 --- a/docs/api-cpp/file_Clothoids_BaseCurve.hxx.html +++ b/docs/api-cpp/file_Clothoids_BaseCurve.hxx.html @@ -7,7 +7,7 @@ - File BaseCurve.hxx — Clothoids v2.0.7 + <title>File BaseCurve.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_BaseCurve_using.hxx.html b/docs/api-cpp/file_Clothoids_BaseCurve_using.hxx.html index a996d501..77414b63 100644 --- a/docs/api-cpp/file_Clothoids_BaseCurve_using.hxx.html +++ b/docs/api-cpp/file_Clothoids_BaseCurve_using.hxx.html @@ -7,7 +7,7 @@ - File BaseCurve_using.hxx — Clothoids v2.0.7 + <title>File BaseCurve_using.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_Biarc.hxx.html b/docs/api-cpp/file_Clothoids_Biarc.hxx.html index f0fc1963..0a140522 100644 --- a/docs/api-cpp/file_Clothoids_Biarc.hxx.html +++ b/docs/api-cpp/file_Clothoids_Biarc.hxx.html @@ -7,7 +7,7 @@ - File Biarc.hxx — Clothoids v2.0.7 + <title>File Biarc.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_BiarcList.hxx.html b/docs/api-cpp/file_Clothoids_BiarcList.hxx.html index 6fb3c8f4..ffd582ae 100644 --- a/docs/api-cpp/file_Clothoids_BiarcList.hxx.html +++ b/docs/api-cpp/file_Clothoids_BiarcList.hxx.html @@ -7,7 +7,7 @@ - File BiarcList.hxx — Clothoids v2.0.7 + <title>File BiarcList.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_Circle.hxx.html b/docs/api-cpp/file_Clothoids_Circle.hxx.html index 0d9ad8bb..4a33d67f 100644 --- a/docs/api-cpp/file_Clothoids_Circle.hxx.html +++ b/docs/api-cpp/file_Clothoids_Circle.hxx.html @@ -7,7 +7,7 @@ - File Circle.hxx — Clothoids v2.0.7 + <title>File Circle.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_Clothoid.hxx.html b/docs/api-cpp/file_Clothoids_Clothoid.hxx.html index e35e5f60..2f6886aa 100644 --- a/docs/api-cpp/file_Clothoids_Clothoid.hxx.html +++ b/docs/api-cpp/file_Clothoids_Clothoid.hxx.html @@ -7,7 +7,7 @@ - File Clothoid.hxx — Clothoids v2.0.7 + <title>File Clothoid.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_ClothoidAsyPlot.hxx.html b/docs/api-cpp/file_Clothoids_ClothoidAsyPlot.hxx.html index e9054bfd..f097e47b 100644 --- a/docs/api-cpp/file_Clothoids_ClothoidAsyPlot.hxx.html +++ b/docs/api-cpp/file_Clothoids_ClothoidAsyPlot.hxx.html @@ -7,7 +7,7 @@ - File ClothoidAsyPlot.hxx — Clothoids v2.0.7 + <title>File ClothoidAsyPlot.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_ClothoidList.hxx.html b/docs/api-cpp/file_Clothoids_ClothoidList.hxx.html index c8ae4940..25c76ec5 100644 --- a/docs/api-cpp/file_Clothoids_ClothoidList.hxx.html +++ b/docs/api-cpp/file_Clothoids_ClothoidList.hxx.html @@ -7,7 +7,7 @@ - File ClothoidList.hxx — Clothoids v2.0.7 + <title>File ClothoidList.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_Fresnel.hxx.html b/docs/api-cpp/file_Clothoids_Fresnel.hxx.html index eac0cb10..c9fc14fe 100644 --- a/docs/api-cpp/file_Clothoids_Fresnel.hxx.html +++ b/docs/api-cpp/file_Clothoids_Fresnel.hxx.html @@ -7,7 +7,7 @@ - File Fresnel.hxx — Clothoids v2.0.7 + <title>File Fresnel.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_G2lib.hxx.html b/docs/api-cpp/file_Clothoids_G2lib.hxx.html index 0920a443..230e0269 100644 --- a/docs/api-cpp/file_Clothoids_G2lib.hxx.html +++ b/docs/api-cpp/file_Clothoids_G2lib.hxx.html @@ -7,7 +7,7 @@ - File G2lib.hxx — Clothoids v2.0.7 + <title>File G2lib.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_Line.hxx.html b/docs/api-cpp/file_Clothoids_Line.hxx.html index cdb946de..d0cfe485 100644 --- a/docs/api-cpp/file_Clothoids_Line.hxx.html +++ b/docs/api-cpp/file_Clothoids_Line.hxx.html @@ -7,7 +7,7 @@ - File Line.hxx — Clothoids v2.0.7 + <title>File Line.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_PolyLine.hxx.html b/docs/api-cpp/file_Clothoids_PolyLine.hxx.html index 19b64adb..f302a225 100644 --- a/docs/api-cpp/file_Clothoids_PolyLine.hxx.html +++ b/docs/api-cpp/file_Clothoids_PolyLine.hxx.html @@ -7,7 +7,7 @@ - File PolyLine.hxx — Clothoids v2.0.7 + <title>File PolyLine.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Clothoids_Triangle2D.hxx.html b/docs/api-cpp/file_Clothoids_Triangle2D.hxx.html index 6efac87c..557fcac8 100644 --- a/docs/api-cpp/file_Clothoids_Triangle2D.hxx.html +++ b/docs/api-cpp/file_Clothoids_Triangle2D.hxx.html @@ -7,7 +7,7 @@ - File Triangle2D.hxx — Clothoids v2.0.7 + <title>File Triangle2D.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Fresnel.cc.html b/docs/api-cpp/file_Fresnel.cc.html index 4c371bb7..55daa0ee 100644 --- a/docs/api-cpp/file_Fresnel.cc.html +++ b/docs/api-cpp/file_Fresnel.cc.html @@ -7,7 +7,7 @@ - File Fresnel.cc — Clothoids v2.0.7 + <title>File Fresnel.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_G2lib.cc.html b/docs/api-cpp/file_G2lib.cc.html index 47c529e7..ea73d3b8 100644 --- a/docs/api-cpp/file_G2lib.cc.html +++ b/docs/api-cpp/file_G2lib.cc.html @@ -7,7 +7,7 @@ - File G2lib.cc — Clothoids v2.0.7 + <title>File G2lib.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_G2lib_intersect.cc.html b/docs/api-cpp/file_G2lib_intersect.cc.html index 24569d89..4b37e8b2 100644 --- a/docs/api-cpp/file_G2lib_intersect.cc.html +++ b/docs/api-cpp/file_G2lib_intersect.cc.html @@ -7,7 +7,7 @@ - File G2lib_intersect.cc — Clothoids v2.0.7 + <title>File G2lib_intersect.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Line.cc.html b/docs/api-cpp/file_Line.cc.html index 9ac08b4c..667e1646 100644 --- a/docs/api-cpp/file_Line.cc.html +++ b/docs/api-cpp/file_Line.cc.html @@ -7,7 +7,7 @@ - File Line.cc — Clothoids v2.0.7 + <title>File Line.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_PolyLine.cc.html b/docs/api-cpp/file_PolyLine.cc.html index 34cf4180..9d178cd6 100644 --- a/docs/api-cpp/file_PolyLine.cc.html +++ b/docs/api-cpp/file_PolyLine.cc.html @@ -7,7 +7,7 @@ - File PolyLine.cc — Clothoids v2.0.7 + <title>File PolyLine.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_Triangle2D.cc.html b/docs/api-cpp/file_Triangle2D.cc.html index 39ce8cde..81d369d6 100644 --- a/docs/api-cpp/file_Triangle2D.cc.html +++ b/docs/api-cpp/file_Triangle2D.cc.html @@ -7,7 +7,7 @@ - File Triangle2D.cc — Clothoids v2.0.7 + <title>File Triangle2D.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/file_view_hierarchy.html b/docs/api-cpp/file_view_hierarchy.html index e763f883..01117b16 100644 --- a/docs/api-cpp/file_view_hierarchy.html +++ b/docs/api-cpp/file_view_hierarchy.html @@ -7,7 +7,7 @@ - File Hierarchy — Clothoids v2.0.7 + <title>File Hierarchy — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a069d980b307edd06a1e9401e1a7bd5b4.html b/docs/api-cpp/function_a00119_1a069d980b307edd06a1e9401e1a7bd5b4.html index 91652aaf..db6491f6 100644 --- a/docs/api-cpp/function_a00119_1a069d980b307edd06a1e9401e1a7bd5b4.html +++ b/docs/api-cpp/function_a00119_1a069d980b307edd06a1e9401e1a7bd5b4.html @@ -7,7 +7,7 @@ - Function G2lib::Sinc_DD — Clothoids v2.0.7 + <title>Function G2lib::Sinc_DD — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a081bc3efca6442933577b14d6f3c2a06.html b/docs/api-cpp/function_a00119_1a081bc3efca6442933577b14d6f3c2a06.html index 749bd9a1..451453b1 100644 --- a/docs/api-cpp/function_a00119_1a081bc3efca6442933577b14d6f3c2a06.html +++ b/docs/api-cpp/function_a00119_1a081bc3efca6442933577b14d6f3c2a06.html @@ -7,7 +7,7 @@ - Function G2lib::Sinc — Clothoids v2.0.7 + <title>Function G2lib::Sinc — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a41280286acf1693170e3fc04361e4596.html b/docs/api-cpp/function_a00119_1a41280286acf1693170e3fc04361e4596.html index 5dff3f70..32456a65 100644 --- a/docs/api-cpp/function_a00119_1a41280286acf1693170e3fc04361e4596.html +++ b/docs/api-cpp/function_a00119_1a41280286acf1693170e3fc04361e4596.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, PolyLine const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, PolyLine const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a44688b8da06cbbc5707f30c5592bef68.html b/docs/api-cpp/function_a00119_1a44688b8da06cbbc5707f30c5592bef68.html index 8445b9e1..f8c77f69 100644 --- a/docs/api-cpp/function_a00119_1a44688b8da06cbbc5707f30c5592bef68.html +++ b/docs/api-cpp/function_a00119_1a44688b8da06cbbc5707f30c5592bef68.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, Triangle2D const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, Triangle2D const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a448a0b9a486f6b9b16d74d80d133b10d.html b/docs/api-cpp/function_a00119_1a448a0b9a486f6b9b16d74d80d133b10d.html index d9e0b5fe..7850a920 100644 --- a/docs/api-cpp/function_a00119_1a448a0b9a486f6b9b16d74d80d133b10d.html +++ b/docs/api-cpp/function_a00119_1a448a0b9a486f6b9b16d74d80d133b10d.html @@ -7,7 +7,7 @@ - Function G2lib::Atanc_DDD — Clothoids v2.0.7 + <title>Function G2lib::Atanc_DDD — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a4d0a558dc1e34cf736febb3c4de4c662.html b/docs/api-cpp/function_a00119_1a4d0a558dc1e34cf736febb3c4de4c662.html index a0eaa8bc..090855f9 100644 --- a/docs/api-cpp/function_a00119_1a4d0a558dc1e34cf736febb3c4de4c662.html +++ b/docs/api-cpp/function_a00119_1a4d0a558dc1e34cf736febb3c4de4c662.html @@ -7,7 +7,7 @@ - Function G2lib::FresnelCS(int_type, real_type, real_type *, real_type *) — Clothoids v2.0.7 + <title>Function G2lib::FresnelCS(int_type, real_type, real_type *, real_type *) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a55711e76ab48e7998d69dcbebb7577e9.html b/docs/api-cpp/function_a00119_1a55711e76ab48e7998d69dcbebb7577e9.html index 1556b0b5..a97d498e 100644 --- a/docs/api-cpp/function_a00119_1a55711e76ab48e7998d69dcbebb7577e9.html +++ b/docs/api-cpp/function_a00119_1a55711e76ab48e7998d69dcbebb7577e9.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, ClothoidList const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, ClothoidList const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a61aab8843b4b24378f44f55b65dcb424.html b/docs/api-cpp/function_a00119_1a61aab8843b4b24378f44f55b65dcb424.html index 5a186883..6d86aae8 100644 --- a/docs/api-cpp/function_a00119_1a61aab8843b4b24378f44f55b65dcb424.html +++ b/docs/api-cpp/function_a00119_1a61aab8843b4b24378f44f55b65dcb424.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, ClothoidSplineG2 const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, ClothoidSplineG2 const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a634e4fa7089193123ec9146bd8e05d2b.html b/docs/api-cpp/function_a00119_1a634e4fa7089193123ec9146bd8e05d2b.html index 8cd1d00c..d648d95f 100644 --- a/docs/api-cpp/function_a00119_1a634e4fa7089193123ec9146bd8e05d2b.html +++ b/docs/api-cpp/function_a00119_1a634e4fa7089193123ec9146bd8e05d2b.html @@ -7,7 +7,7 @@ - Function G2lib::Atanc_D — Clothoids v2.0.7 + <title>Function G2lib::Atanc_D — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a675e182a0894c0adb4295c034d155bb1.html b/docs/api-cpp/function_a00119_1a675e182a0894c0adb4295c034d155bb1.html index 4c07c986..79f7d6f5 100644 --- a/docs/api-cpp/function_a00119_1a675e182a0894c0adb4295c034d155bb1.html +++ b/docs/api-cpp/function_a00119_1a675e182a0894c0adb4295c034d155bb1.html @@ -7,7 +7,7 @@ - Function G2lib::GeneralizedFresnelCS(int_type, real_type, real_type, real_type, real_type *, real_type *) — Clothoids v2.0.7 + <title>Function G2lib::GeneralizedFresnelCS(int_type, real_type, real_type, real_type, real_type *, real_type *) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a67f7c38f4ad0d8256c2f4d0f92501bf2.html b/docs/api-cpp/function_a00119_1a67f7c38f4ad0d8256c2f4d0f92501bf2.html index 193c2cea..80465504 100644 --- a/docs/api-cpp/function_a00119_1a67f7c38f4ad0d8256c2f4d0f92501bf2.html +++ b/docs/api-cpp/function_a00119_1a67f7c38f4ad0d8256c2f4d0f92501bf2.html @@ -7,7 +7,7 @@ - Function G2lib::GeneralizedFresnelCS(real_type, real_type, real_type, real_type&, real_type&) — Clothoids v2.0.7 + <title>Function G2lib::GeneralizedFresnelCS(real_type, real_type, real_type, real_type&, real_type&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a698f23b0a8d2f0dd431c908ba7bce967.html b/docs/api-cpp/function_a00119_1a698f23b0a8d2f0dd431c908ba7bce967.html index 96113fc7..b71c75ee 100644 --- a/docs/api-cpp/function_a00119_1a698f23b0a8d2f0dd431c908ba7bce967.html +++ b/docs/api-cpp/function_a00119_1a698f23b0a8d2f0dd431c908ba7bce967.html @@ -7,7 +7,7 @@ - Function G2lib::Sinc_DDD — Clothoids v2.0.7 + <title>Function G2lib::Sinc_DDD — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a6a3e8c7ad85655c555cb6dc3825774c6.html b/docs/api-cpp/function_a00119_1a6a3e8c7ad85655c555cb6dc3825774c6.html index 6441a4be..7f0e9541 100644 --- a/docs/api-cpp/function_a00119_1a6a3e8c7ad85655c555cb6dc3825774c6.html +++ b/docs/api-cpp/function_a00119_1a6a3e8c7ad85655c555cb6dc3825774c6.html @@ -7,7 +7,7 @@ - Function G2lib::Cosc_D — Clothoids v2.0.7 + <title>Function G2lib::Cosc_D — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a6df137b46ae2e3e57a1968424b2ceb04.html b/docs/api-cpp/function_a00119_1a6df137b46ae2e3e57a1968424b2ceb04.html index bd883163..8e210a18 100644 --- a/docs/api-cpp/function_a00119_1a6df137b46ae2e3e57a1968424b2ceb04.html +++ b/docs/api-cpp/function_a00119_1a6df137b46ae2e3e57a1968424b2ceb04.html @@ -7,7 +7,7 @@ - Function G2lib::collision_ISO — Clothoids v2.0.7 + <title>Function G2lib::collision_ISO — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a70d38da7135fe9aa83b9e0d0e6ee7979.html b/docs/api-cpp/function_a00119_1a70d38da7135fe9aa83b9e0d0e6ee7979.html index c43e4b43..0c80b689 100644 --- a/docs/api-cpp/function_a00119_1a70d38da7135fe9aa83b9e0d0e6ee7979.html +++ b/docs/api-cpp/function_a00119_1a70d38da7135fe9aa83b9e0d0e6ee7979.html @@ -7,7 +7,7 @@ - Function G2lib::Sinc_D — Clothoids v2.0.7 + <title>Function G2lib::Sinc_D — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a71b4db32cfdab9a94bf3706eb7ff8d25.html b/docs/api-cpp/function_a00119_1a71b4db32cfdab9a94bf3706eb7ff8d25.html index fa2bed97..7b3191a4 100644 --- a/docs/api-cpp/function_a00119_1a71b4db32cfdab9a94bf3706eb7ff8d25.html +++ b/docs/api-cpp/function_a00119_1a71b4db32cfdab9a94bf3706eb7ff8d25.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, BBox const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, BBox const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a753ce69800a98e59ce94300c441c2ed7.html b/docs/api-cpp/function_a00119_1a753ce69800a98e59ce94300c441c2ed7.html index 59e3cf39..158341f7 100644 --- a/docs/api-cpp/function_a00119_1a753ce69800a98e59ce94300c441c2ed7.html +++ b/docs/api-cpp/function_a00119_1a753ce69800a98e59ce94300c441c2ed7.html @@ -7,7 +7,7 @@ - Function G2lib::solveLinearQuadratic2 — Clothoids v2.0.7 + <title>Function G2lib::solveLinearQuadratic2 — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a787008f61e79e40319f40bdc503f3136.html b/docs/api-cpp/function_a00119_1a787008f61e79e40319f40bdc503f3136.html index 0f4f93c1..fde86651 100644 --- a/docs/api-cpp/function_a00119_1a787008f61e79e40319f40bdc503f3136.html +++ b/docs/api-cpp/function_a00119_1a787008f61e79e40319f40bdc503f3136.html @@ -7,7 +7,7 @@ - Function G2lib::pointInsideCircle — Clothoids v2.0.7 + <title>Function G2lib::pointInsideCircle — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a8255221ca042d54056cb046fa8162f8e.html b/docs/api-cpp/function_a00119_1a8255221ca042d54056cb046fa8162f8e.html index 2b12a9c4..b2e947cd 100644 --- a/docs/api-cpp/function_a00119_1a8255221ca042d54056cb046fa8162f8e.html +++ b/docs/api-cpp/function_a00119_1a8255221ca042d54056cb046fa8162f8e.html @@ -7,7 +7,7 @@ - Function G2lib::isPointInTriangle — Clothoids v2.0.7 + <title>Function G2lib::isPointInTriangle — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a83b624f8b3552db66851e8ac7f899da5.html b/docs/api-cpp/function_a00119_1a83b624f8b3552db66851e8ac7f899da5.html index aa74b181..d318683e 100644 --- a/docs/api-cpp/function_a00119_1a83b624f8b3552db66851e8ac7f899da5.html +++ b/docs/api-cpp/function_a00119_1a83b624f8b3552db66851e8ac7f899da5.html @@ -7,7 +7,7 @@ - Function G2lib::intersect_ISO — Clothoids v2.0.7 + <title>Function G2lib::intersect_ISO — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a85c9fa5ae980772185e20e21e9c10d6c.html b/docs/api-cpp/function_a00119_1a85c9fa5ae980772185e20e21e9c10d6c.html index 4f70ff38..c3b5d081 100644 --- a/docs/api-cpp/function_a00119_1a85c9fa5ae980772185e20e21e9c10d6c.html +++ b/docs/api-cpp/function_a00119_1a85c9fa5ae980772185e20e21e9c10d6c.html @@ -7,7 +7,7 @@ - Function G2lib::solveLinearQuadratic — Clothoids v2.0.7 + <title>Function G2lib::solveLinearQuadratic — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a8829b54b63a6e1880f15ccdfe57c2ecb.html b/docs/api-cpp/function_a00119_1a8829b54b63a6e1880f15ccdfe57c2ecb.html index 48d4e086..56606cc6 100644 --- a/docs/api-cpp/function_a00119_1a8829b54b63a6e1880f15ccdfe57c2ecb.html +++ b/docs/api-cpp/function_a00119_1a8829b54b63a6e1880f15ccdfe57c2ecb.html @@ -7,7 +7,7 @@ - Function G2lib::projectPointOnCircle — Clothoids v2.0.7 + <title>Function G2lib::projectPointOnCircle — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a93332a83835beb3d4b71a5d46dc2342f.html b/docs/api-cpp/function_a00119_1a93332a83835beb3d4b71a5d46dc2342f.html index f80d658f..e81e848f 100644 --- a/docs/api-cpp/function_a00119_1a93332a83835beb3d4b71a5d46dc2342f.html +++ b/docs/api-cpp/function_a00119_1a93332a83835beb3d4b71a5d46dc2342f.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, LineSegment const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, LineSegment const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1a9918cdf0f8b490f346237606e069d367.html b/docs/api-cpp/function_a00119_1a9918cdf0f8b490f346237606e069d367.html index 65f98a5f..30970266 100644 --- a/docs/api-cpp/function_a00119_1a9918cdf0f8b490f346237606e069d367.html +++ b/docs/api-cpp/function_a00119_1a9918cdf0f8b490f346237606e069d367.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, ClothoidCurve const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, ClothoidCurve const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1aa33f87b2d769488fe4d44977f483f91f.html b/docs/api-cpp/function_a00119_1aa33f87b2d769488fe4d44977f483f91f.html index 8ff73649..eac518f8 100644 --- a/docs/api-cpp/function_a00119_1aa33f87b2d769488fe4d44977f483f91f.html +++ b/docs/api-cpp/function_a00119_1aa33f87b2d769488fe4d44977f483f91f.html @@ -7,7 +7,7 @@ - Function G2lib::yesAABBtree — Clothoids v2.0.7 + <title>Function G2lib::yesAABBtree — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1aa57348d683f260251202e4fe1e7c6ff1.html b/docs/api-cpp/function_a00119_1aa57348d683f260251202e4fe1e7c6ff1.html index fdec4049..4f6c5479 100644 --- a/docs/api-cpp/function_a00119_1aa57348d683f260251202e4fe1e7c6ff1.html +++ b/docs/api-cpp/function_a00119_1aa57348d683f260251202e4fe1e7c6ff1.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, Biarc const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, Biarc const&) — Clothoids v2.0.8 @@ -92,7 +92,7 @@

    Function Documentationostream_type &G2lib::operator<<(ostream_type &stream, Biarc const &bi)
    -

    Pretty print of the biarc

    +

    Pretty print of the biarc.

    • diff --git a/docs/api-cpp/function_a00119_1aa5b1fe23ac7694a14290b292fe657cd2.html b/docs/api-cpp/function_a00119_1aa5b1fe23ac7694a14290b292fe657cd2.html index fc9d3ddd..134b1157 100644 --- a/docs/api-cpp/function_a00119_1aa5b1fe23ac7694a14290b292fe657cd2.html +++ b/docs/api-cpp/function_a00119_1aa5b1fe23ac7694a14290b292fe657cd2.html @@ -7,7 +7,7 @@ - Function G2lib::collision_SAE — Clothoids v2.0.7 + <title>Function G2lib::collision_SAE — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1aa745733d178f053f0092b5ecc892bd44.html b/docs/api-cpp/function_a00119_1aa745733d178f053f0092b5ecc892bd44.html index a3b6586e..e0fed335 100644 --- a/docs/api-cpp/function_a00119_1aa745733d178f053f0092b5ecc892bd44.html +++ b/docs/api-cpp/function_a00119_1aa745733d178f053f0092b5ecc892bd44.html @@ -7,7 +7,7 @@ - Function G2lib::build_guess_theta — Clothoids v2.0.7 + <title>Function G2lib::build_guess_theta — Clothoids v2.0.8 @@ -93,7 +93,7 @@

    Function Documentationbool G2lib::build_guess_theta(int_type n, real_type const *x, real_type const *y, real_type *theta)
    -

    Given a list of points \( (x_i,y_i) \) build a guess of angles for a spline of biarc

    +

    Given a list of points \( (x_i,y_i) \) build a guess of angles for a spline of biarc.

    Parameters
    diff --git a/docs/api-cpp/function_a00119_1aae7c4fbfe193e70d5dce17e0f2e177b6.html b/docs/api-cpp/function_a00119_1aae7c4fbfe193e70d5dce17e0f2e177b6.html index a719f5bf..3c5f920a 100644 --- a/docs/api-cpp/function_a00119_1aae7c4fbfe193e70d5dce17e0f2e177b6.html +++ b/docs/api-cpp/function_a00119_1aae7c4fbfe193e70d5dce17e0f2e177b6.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, CircleArc const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, CircleArc const&) — Clothoids v2.0.8 @@ -92,7 +92,7 @@

    Function Documentationostream_type &G2lib::operator<<(ostream_type &stream, CircleArc const &c)
    -

    pretty print circle arc

    +

    Pretty print circle arc.

    diff --git a/docs/api-cpp/function_a00119_1aaf57a0b7127fcdb2ee4aaef288c4e527.html b/docs/api-cpp/function_a00119_1aaf57a0b7127fcdb2ee4aaef288c4e527.html index 426448f9..daa0749d 100644 --- a/docs/api-cpp/function_a00119_1aaf57a0b7127fcdb2ee4aaef288c4e527.html +++ b/docs/api-cpp/function_a00119_1aaf57a0b7127fcdb2ee4aaef288c4e527.html @@ -7,7 +7,7 @@ - Function G2lib::isCounterClockwise — Clothoids v2.0.7 + <title>Function G2lib::isCounterClockwise — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ab3e73bcf98a8efc2749f2ad05a3fdc51.html b/docs/api-cpp/function_a00119_1ab3e73bcf98a8efc2749f2ad05a3fdc51.html index f154e2fd..fc227696 100644 --- a/docs/api-cpp/function_a00119_1ab3e73bcf98a8efc2749f2ad05a3fdc51.html +++ b/docs/api-cpp/function_a00119_1ab3e73bcf98a8efc2749f2ad05a3fdc51.html @@ -7,7 +7,7 @@ - Function G2lib::Cosc — Clothoids v2.0.7 + <title>Function G2lib::Cosc — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ab4c21b2f3f1a20a134429dfeb129c423.html b/docs/api-cpp/function_a00119_1ab4c21b2f3f1a20a134429dfeb129c423.html index f236510f..3a5c5cde 100644 --- a/docs/api-cpp/function_a00119_1ab4c21b2f3f1a20a134429dfeb129c423.html +++ b/docs/api-cpp/function_a00119_1ab4c21b2f3f1a20a134429dfeb129c423.html @@ -7,7 +7,7 @@ - Function G2lib::Atanc_DD — Clothoids v2.0.7 + <title>Function G2lib::Atanc_DD — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ac0bbd1b03ec89b9ed1874b35849a82e7.html b/docs/api-cpp/function_a00119_1ac0bbd1b03ec89b9ed1874b35849a82e7.html index 222331e0..ddae71c7 100644 --- a/docs/api-cpp/function_a00119_1ac0bbd1b03ec89b9ed1874b35849a82e7.html +++ b/docs/api-cpp/function_a00119_1ac0bbd1b03ec89b9ed1874b35849a82e7.html @@ -7,7 +7,7 @@ - Function G2lib::Atanc — Clothoids v2.0.7 + <title>Function G2lib::Atanc — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ac10d1d52ae3cd16ef20171553d117b5b.html b/docs/api-cpp/function_a00119_1ac10d1d52ae3cd16ef20171553d117b5b.html index 3a835e40..9454808a 100644 --- a/docs/api-cpp/function_a00119_1ac10d1d52ae3cd16ef20171553d117b5b.html +++ b/docs/api-cpp/function_a00119_1ac10d1d52ae3cd16ef20171553d117b5b.html @@ -7,7 +7,7 @@ - Function G2lib::Cosc_DD — Clothoids v2.0.7 + <title>Function G2lib::Cosc_DD — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1acdd344ff0a709df517956fc2e0545b2f.html b/docs/api-cpp/function_a00119_1acdd344ff0a709df517956fc2e0545b2f.html index 445326d7..de27510d 100644 --- a/docs/api-cpp/function_a00119_1acdd344ff0a709df517956fc2e0545b2f.html +++ b/docs/api-cpp/function_a00119_1acdd344ff0a709df517956fc2e0545b2f.html @@ -7,7 +7,7 @@ - Function G2lib::intersect_SAE — Clothoids v2.0.7 + <title>Function G2lib::intersect_SAE — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1acf4b8b1e2907ced4f4097f9dc5e301c3.html b/docs/api-cpp/function_a00119_1acf4b8b1e2907ced4f4097f9dc5e301c3.html index ee47b2c3..be21cdae 100644 --- a/docs/api-cpp/function_a00119_1acf4b8b1e2907ced4f4097f9dc5e301c3.html +++ b/docs/api-cpp/function_a00119_1acf4b8b1e2907ced4f4097f9dc5e301c3.html @@ -7,7 +7,7 @@ - Function G2lib::projectPointOnCircleArc — Clothoids v2.0.7 + <title>Function G2lib::projectPointOnCircleArc — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ad2fbbd505c9e9e83b15a7b74aedd32a3.html b/docs/api-cpp/function_a00119_1ad2fbbd505c9e9e83b15a7b74aedd32a3.html index 98618df3..dc607d24 100644 --- a/docs/api-cpp/function_a00119_1ad2fbbd505c9e9e83b15a7b74aedd32a3.html +++ b/docs/api-cpp/function_a00119_1ad2fbbd505c9e9e83b15a7b74aedd32a3.html @@ -7,7 +7,7 @@ - Function G2lib::intersectCircleCircle — Clothoids v2.0.7 + <title>Function G2lib::intersectCircleCircle — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ad7f05be763a55407b6df6bcf9ecc1ef5.html b/docs/api-cpp/function_a00119_1ad7f05be763a55407b6df6bcf9ecc1ef5.html index 4cdc58fd..4416399a 100644 --- a/docs/api-cpp/function_a00119_1ad7f05be763a55407b6df6bcf9ecc1ef5.html +++ b/docs/api-cpp/function_a00119_1ad7f05be763a55407b6df6bcf9ecc1ef5.html @@ -7,7 +7,7 @@ - Function G2lib::collision — Clothoids v2.0.7 + <title>Function G2lib::collision — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1adcb636fc9381075c0ce6750a07f15a41.html b/docs/api-cpp/function_a00119_1adcb636fc9381075c0ce6750a07f15a41.html index 1a29fc59..4aa3c55e 100644 --- a/docs/api-cpp/function_a00119_1adcb636fc9381075c0ce6750a07f15a41.html +++ b/docs/api-cpp/function_a00119_1adcb636fc9381075c0ce6750a07f15a41.html @@ -7,7 +7,7 @@ - Function G2lib::minmax3 — Clothoids v2.0.7 + <title>Function G2lib::minmax3 — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1adcfc7269a46eeddf3be4a593a7d45a38.html b/docs/api-cpp/function_a00119_1adcfc7269a46eeddf3be4a593a7d45a38.html index 6b6dfdf0..0a348a36 100644 --- a/docs/api-cpp/function_a00119_1adcfc7269a46eeddf3be4a593a7d45a38.html +++ b/docs/api-cpp/function_a00119_1adcfc7269a46eeddf3be4a593a7d45a38.html @@ -7,7 +7,7 @@ - Function G2lib::noAABBtree — Clothoids v2.0.7 + <title>Function G2lib::noAABBtree — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ae31a0f31e6bae4318afcbd437fd2b2b6.html b/docs/api-cpp/function_a00119_1ae31a0f31e6bae4318afcbd437fd2b2b6.html index 908621c2..863fe520 100644 --- a/docs/api-cpp/function_a00119_1ae31a0f31e6bae4318afcbd437fd2b2b6.html +++ b/docs/api-cpp/function_a00119_1ae31a0f31e6bae4318afcbd437fd2b2b6.html @@ -7,7 +7,7 @@ - Function G2lib::intersect — Clothoids v2.0.7 + <title>Function G2lib::intersect — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1ae6868bffc32e5a0425f93e65c41bc6de.html b/docs/api-cpp/function_a00119_1ae6868bffc32e5a0425f93e65c41bc6de.html index a1b8dbb9..23503cdf 100644 --- a/docs/api-cpp/function_a00119_1ae6868bffc32e5a0425f93e65c41bc6de.html +++ b/docs/api-cpp/function_a00119_1ae6868bffc32e5a0425f93e65c41bc6de.html @@ -7,7 +7,7 @@ - Function G2lib::Cosc_DDD — Clothoids v2.0.7 + <title>Function G2lib::Cosc_DDD — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1aea24641ba4514e4557cd7e9a4ada946c.html b/docs/api-cpp/function_a00119_1aea24641ba4514e4557cd7e9a4ada946c.html index e3877f01..ae976a17 100644 --- a/docs/api-cpp/function_a00119_1aea24641ba4514e4557cd7e9a4ada946c.html +++ b/docs/api-cpp/function_a00119_1aea24641ba4514e4557cd7e9a4ada946c.html @@ -7,7 +7,7 @@ - Function G2lib::xy_to_guess_angle — Clothoids v2.0.7 + <title>Function G2lib::xy_to_guess_angle — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1aeb13c5c70ad2e0ba0935401b2b64fc0b.html b/docs/api-cpp/function_a00119_1aeb13c5c70ad2e0ba0935401b2b64fc0b.html index f00712ac..62f9e79c 100644 --- a/docs/api-cpp/function_a00119_1aeb13c5c70ad2e0ba0935401b2b64fc0b.html +++ b/docs/api-cpp/function_a00119_1aeb13c5c70ad2e0ba0935401b2b64fc0b.html @@ -7,7 +7,7 @@ - Function G2lib::operator<<(ostream_type&, BiarcList const&) — Clothoids v2.0.7 + <title>Function G2lib::operator<<(ostream_type&, BiarcList const&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1aee78c857e298d1605987e48534793843.html b/docs/api-cpp/function_a00119_1aee78c857e298d1605987e48534793843.html index 42b48c39..539a03d9 100644 --- a/docs/api-cpp/function_a00119_1aee78c857e298d1605987e48534793843.html +++ b/docs/api-cpp/function_a00119_1aee78c857e298d1605987e48534793843.html @@ -7,7 +7,7 @@ - Function G2lib::FresnelCS(real_type, real_type&, real_type&) — Clothoids v2.0.7 + <title>Function G2lib::FresnelCS(real_type, real_type&, real_type&) — Clothoids v2.0.8 diff --git a/docs/api-cpp/function_a00119_1aeed539405134d26c4315fd644d5fa2ca.html b/docs/api-cpp/function_a00119_1aeed539405134d26c4315fd644d5fa2ca.html index 5ff4aee9..538554e9 100644 --- a/docs/api-cpp/function_a00119_1aeed539405134d26c4315fd644d5fa2ca.html +++ b/docs/api-cpp/function_a00119_1aeed539405134d26c4315fd644d5fa2ca.html @@ -7,7 +7,7 @@ - Function G2lib::rangeSymm — Clothoids v2.0.7 + <title>Function G2lib::rangeSymm — Clothoids v2.0.8 diff --git a/docs/api-cpp/namespace_G2lib.html b/docs/api-cpp/namespace_G2lib.html index 800673ee..43fe9887 100644 --- a/docs/api-cpp/namespace_G2lib.html +++ b/docs/api-cpp/namespace_G2lib.html @@ -7,7 +7,7 @@ - Namespace G2lib — Clothoids v2.0.7 + <title>Namespace G2lib — Clothoids v2.0.8 @@ -168,6 +168,9 @@

    FunctionsFunction G2lib::isPointInTriangle

  • Function G2lib::minmax3

  • Function G2lib::noAABBtree

    • +

  • Function G2lib::operator<<(ostream_type&, LineSegment const&)

    • +

  • Function G2lib::operator<<(ostream_type&, PolyLine const&)

    • +

  • Function G2lib::operator<<(ostream_type&, Triangle2D const&)

  • Function G2lib::operator<<(ostream_type&, Biarc const&)

  • Function G2lib::operator<<(ostream_type&, BiarcList const&)

  • Function G2lib::operator<<(ostream_type&, CircleArc const&)

    • @@ -175,9 +178,6 @@

    FunctionsFunction G2lib::operator<<(ostream_type&, ClothoidSplineG2 const&)

  • Function G2lib::operator<<(ostream_type&, ClothoidList const&)

  • Function G2lib::operator<<(ostream_type&, BBox const&)

    • -

  • Function G2lib::operator<<(ostream_type&, LineSegment const&)

    • -

  • Function G2lib::operator<<(ostream_type&, PolyLine const&)

    • -

  • Function G2lib::operator<<(ostream_type&, Triangle2D const&)

  • Function G2lib::pointInsideCircle

  • Function G2lib::projectPointOnCircle

  • Function G2lib::projectPointOnCircleArc

    • diff --git a/docs/api-cpp/program_listing_file_AABBtree.cc.html b/docs/api-cpp/program_listing_file_AABBtree.cc.html index 84de0158..05168369 100644 --- a/docs/api-cpp/program_listing_file_AABBtree.cc.html +++ b/docs/api-cpp/program_listing_file_AABBtree.cc.html @@ -7,7 +7,7 @@ - Program Listing for File AABBtree.cc — Clothoids v2.0.7 + <title>Program Listing for File AABBtree.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Biarc.cc.html b/docs/api-cpp/program_listing_file_Biarc.cc.html index 6dee933e..8981b75b 100644 --- a/docs/api-cpp/program_listing_file_Biarc.cc.html +++ b/docs/api-cpp/program_listing_file_Biarc.cc.html @@ -7,7 +7,7 @@ - Program Listing for File Biarc.cc — Clothoids v2.0.7 + <title>Program Listing for File Biarc.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_BiarcList.cc.html b/docs/api-cpp/program_listing_file_BiarcList.cc.html index 75ae57a5..40973f43 100644 --- a/docs/api-cpp/program_listing_file_BiarcList.cc.html +++ b/docs/api-cpp/program_listing_file_BiarcList.cc.html @@ -7,7 +7,7 @@ - Program Listing for File BiarcList.cc — Clothoids v2.0.7 + <title>Program Listing for File BiarcList.cc — Clothoids v2.0.8 @@ -1241,14 +1241,13 @@

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    \*/ int_type - BiarcList::closestPoint_ISO( + BiarcList::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { @@ -1269,8 +1268,8 @@

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    real_type dst = T.distMin( qx, qy ); if ( dst < DST ) { // refine distance - real_type xx, yy, ss; - m_biarcList[T.Icurve()].closestPoint_ISO( qx, qy, offs, xx, yy, ss, dst ); + real_type xx, yy, ss, tt; + m_biarcList[T.Icurve()].closestPoint_ISO( qx, qy, offs, xx, yy, ss, tt, dst ); if ( dst < DST ) { DST = dst; s = ss + m_s0[T.Icurve()]; @@ -1280,14 +1279,36 @@

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    } } } + return icurve; + } + int_type + BiarcList::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + int_type icurve = this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; m_biarcList[icurve].nor_ISO( s - m_s0[icurve], nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -(icurve+1); - return icurve; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "BiarcList::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -(icurve+1) : icurve; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/docs/api-cpp/program_listing_file_Circle.cc.html b/docs/api-cpp/program_listing_file_Circle.cc.html index f45bd823..6413f860 100644 --- a/docs/api-cpp/program_listing_file_Circle.cc.html +++ b/docs/api-cpp/program_listing_file_Circle.cc.html @@ -7,7 +7,7 @@ - Program Listing for File Circle.cc — Clothoids v2.0.7 + <title>Program Listing for File Circle.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoid.cc.html b/docs/api-cpp/program_listing_file_Clothoid.cc.html index 338e48c9..255b02ee 100644 --- a/docs/api-cpp/program_listing_file_Clothoid.cc.html +++ b/docs/api-cpp/program_listing_file_Clothoid.cc.html @@ -7,7 +7,7 @@ - Program Listing for File Clothoid.cc — Clothoids v2.0.7 + <title>Program Listing for File Clothoid.cc — Clothoids v2.0.8 @@ -626,7 +626,7 @@

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    \*/ void - ClothoidCurve::closestPoint_internal_ISO( + ClothoidCurve::closestPoint_internal( real_type s_begin, real_type s_end, real_type qx, @@ -685,15 +685,14 @@

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    // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - int_type - ClothoidCurve::closestPoint_ISO( + void + ClothoidCurve::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { DST = numeric_limits<real_type>::infinity(); @@ -713,7 +712,7 @@

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    if ( dst < DST ) { // refine distance real_type xx, yy, ss; - closestPoint_internal_ISO( + closestPoint_internal( T.S0(), T.S1(), qx, qy, offs, xx, yy, ss, dst ); if ( dst < DST ) { @@ -724,13 +723,37 @@

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    } } } + } + + // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + int_type + ClothoidCurve::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; nor_ISO( s, nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -1; - return 1; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "Clothoid::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -1 : 1; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/docs/api-cpp/program_listing_file_ClothoidAsyPlot.cc.html b/docs/api-cpp/program_listing_file_ClothoidAsyPlot.cc.html index 92dd1f48..5ded9ca9 100644 --- a/docs/api-cpp/program_listing_file_ClothoidAsyPlot.cc.html +++ b/docs/api-cpp/program_listing_file_ClothoidAsyPlot.cc.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidAsyPlot.cc — Clothoids v2.0.7 + <title>Program Listing for File ClothoidAsyPlot.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_ClothoidDistance.cc.html b/docs/api-cpp/program_listing_file_ClothoidDistance.cc.html index 6b2579f8..62a6755a 100644 --- a/docs/api-cpp/program_listing_file_ClothoidDistance.cc.html +++ b/docs/api-cpp/program_listing_file_ClothoidDistance.cc.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidDistance.cc — Clothoids v2.0.7 + <title>Program Listing for File ClothoidDistance.cc — Clothoids v2.0.8 @@ -611,14 +611,18 @@

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    dst = d0; } } + // check if projection is orthogonal real_type nx, ny; nor_ISO( S, nx, ny ); - real_type dx = qx-X; - real_type dy = qy-Y; - T = dx * nx + dy * ny; - real_type tol = (dst > 1 ? dst*machepsi1000 : machepsi1000); - if ( abs(abs(T)-dst) < tol ) return 1; - return -1; + real_type qxx = qx - X; + real_type qyy = qy - Y; + T = qxx * nx + qyy * ny; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "ClothoidCurve::closestPoint_ISO: ||P-P0|| = {}, |(P-P0).T| = {}\n", + dst, pt + ); + return pt > GLIB2_TOL_ANGLE*dst ? -1 : 1; } /* diff --git a/docs/api-cpp/program_listing_file_ClothoidG2.cc.html b/docs/api-cpp/program_listing_file_ClothoidG2.cc.html index 5f684995..bc0306a2 100644 --- a/docs/api-cpp/program_listing_file_ClothoidG2.cc.html +++ b/docs/api-cpp/program_listing_file_ClothoidG2.cc.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidG2.cc — Clothoids v2.0.7 + <title>Program Listing for File ClothoidG2.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_ClothoidList.cc.html b/docs/api-cpp/program_listing_file_ClothoidList.cc.html index ca155057..599d7848 100644 --- a/docs/api-cpp/program_listing_file_ClothoidList.cc.html +++ b/docs/api-cpp/program_listing_file_ClothoidList.cc.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidList.cc — Clothoids v2.0.7 + <title>Program Listing for File ClothoidList.cc — Clothoids v2.0.8 @@ -1520,14 +1520,13 @@

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    \*/ int_type - ClothoidList::closestPoint_ISO( + ClothoidList::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { @@ -1548,7 +1547,7 @@

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    if ( dst < DST ) { // refine distance real_type xx, yy, ss; - m_clotoidList[T.Icurve()].closestPoint_internal_ISO( + m_clotoidList[T.Icurve()].closestPoint_internal( T.S0(), T.S1(), qx, qy, offs, xx, yy, ss, dst ); if ( dst < DST ) { @@ -1560,14 +1559,38 @@

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    } } } + return icurve; + } + // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + int_type + ClothoidList::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + int_type icurve = this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; m_clotoidList[icurve].nor_ISO( s - m_s0[icurve], nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -(icurve+1); - return icurve; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -(icurve+1) : icurve; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -1612,7 +1635,7 @@

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    if ( dst < DST ) { // refine distance real_type xx, yy, ss; - m_clotoidList[T.Icurve()].closestPoint_internal_ISO( + m_clotoidList[T.Icurve()].closestPoint_internal( T.S0(), T.S1(), qx, qy, 0, xx, yy, ss, dst ); if ( dst < DST ) { @@ -1644,7 +1667,7 @@

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    "ClothoidList::closestPointInRange_ISO, empty list\n" ); int_type nsegs = this->numSegments(); - if ( nsegs == 1 ) { + if ( nsegs == 1 ) { // only 1 segment to check icurve = 0; int_type res = m_clotoidList.front().closestPoint_ISO( qx, qy, x, y, s, t, dst ); s += m_s0[0]; @@ -1665,21 +1688,36 @@

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    int_type res = m_clotoidList[icurve].closestPoint_ISO( qx, qy, x, y, s, t, dst ); s += m_s0[icurve]; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO\n" + "first segment #{} dst = {} res = {}\n", + icurve, dst, res + ); + if ( ib == ie ) return res; // only one segment to check int_type iseg = ib; do { if ( ++iseg >= nsegs ) iseg -= nsegs; // next segment real_type C_x, C_y, C_s, C_t, C_dst; - int_type C_res = m_clotoidList[iseg].closestPoint_ISO( qx, qy, C_x, C_y, C_s, C_t, C_dst ); - if ( res < 0 || (C_res >= 0 && C_dst < dst) ) { + int_type C_res = m_clotoidList[iseg].closestPoint_ISO( + qx, qy, C_x, C_y, C_s, C_t, C_dst + ); + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO: segment #{} dst = {} res = {}\n", + iseg, C_dst, C_res + ); + if ( C_dst < dst ) { dst = C_dst; x = C_x; y = C_y; - s = C_s+m_s0[iseg]; + s = C_s + m_s0[iseg]; t = C_t; icurve = iseg; res = C_res; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO, new min at s = {}, res = {}\n", s, res + ); } } while ( iseg != ie ); return res; @@ -1731,7 +1769,7 @@

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    ClothoidCurve C0 = m_clotoidList[i_begin]; // crea copia ClothoidCurve C1 = m_clotoidList[i_end]; // crea copia - // taglia il segmenti + // taglia il segmento C0.trim( s_begin-ss0, C0.length() ); // calcolo closest point @@ -1739,10 +1777,20 @@

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    s += s_begin; icurve = i_begin; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: first segment {} dst = {} res = {}\n", + i_begin, dst, res + ); + C1.trim( 0, s_end-ss1 ); res1 = C1.closestPoint_ISO( qx, qy, x1, y1, s1, t1, dst1 ); s1 += ss1; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: last segment {} dst = {} res = {}\n", + i_end, dst1, res1 + ); + if ( dst1 < dst ) { x = x1; y = y1; s = s1; t = t1; dst = dst1; res = res1; icurve = i_end; @@ -1756,7 +1804,11 @@

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    res1 = this->closestPointInRange_ISO( qx, qy, i_begin, i_end, x1, y1, s1, t1, dst1, icurve1 ); - if ( res < 0 || (res1 >= 0 && dst1 < dst) ) { + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: range [{},{}] dst = {} res = {}\n", + i_begin, i_end, dst1, res1 + ); + if ( dst1 < dst ) { x = x1; y = y1; s = s1; @@ -1764,6 +1816,9 @@

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    dst = dst1; res = res1; icurve = icurve1; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: new min at s = {}, res = {}\n", s, res + ); } } } diff --git a/docs/api-cpp/program_listing_file_Clothoids.hh.html b/docs/api-cpp/program_listing_file_Clothoids.hh.html index 5550602b..ea41bb18 100644 --- a/docs/api-cpp/program_listing_file_Clothoids.hh.html +++ b/docs/api-cpp/program_listing_file_Clothoids.hh.html @@ -7,7 +7,7 @@ - Program Listing for File Clothoids.hh — Clothoids v2.0.7 + <title>Program Listing for File Clothoids.hh — Clothoids v2.0.8 @@ -126,6 +126,16 @@

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    #include <memory> // shared_ptr #endif +#ifdef G2LIB_DEBUG + #define G2LIB_DEBUG_MESSAGE(...) std::cout << fmt::format(__VA_ARGS__) << std::flush +#else + #define G2LIB_DEBUG_MESSAGE(...) +#endif + +#ifndef GLIB2_TOL_ANGLE + #define GLIB2_TOL_ANGLE 1e-8 +#endif + namespace G2lib { typedef std::basic_istream<char> istream_type; typedef std::basic_ostream<char> ostream_type; diff --git a/docs/api-cpp/program_listing_file_Clothoids_AABBtree.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_AABBtree.hxx.html index cccbdcff..c221bb61 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_AABBtree.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_AABBtree.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File AABBtree.hxx — Clothoids v2.0.7 + <title>Program Listing for File AABBtree.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_BaseCurve.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_BaseCurve.hxx.html index 74d0707b..cb59aeea 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_BaseCurve.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_BaseCurve.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File BaseCurve.hxx — Clothoids v2.0.7 + <title>Program Listing for File BaseCurve.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_BaseCurve_using.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_BaseCurve_using.hxx.html index b3577f38..8012b3df 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_BaseCurve_using.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_BaseCurve_using.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File BaseCurve_using.hxx — Clothoids v2.0.7 + <title>Program Listing for File BaseCurve_using.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_Biarc.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_Biarc.hxx.html index d4e0fa5c..5c47a011 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_Biarc.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_Biarc.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File Biarc.hxx — Clothoids v2.0.7 + <title>Program Listing for File Biarc.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_BiarcList.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_BiarcList.hxx.html index 0dfcaafd..c01a6c40 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_BiarcList.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_BiarcList.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File BiarcList.hxx — Clothoids v2.0.7 + <title>Program Listing for File BiarcList.hxx — Clothoids v2.0.8 @@ -160,6 +160,17 @@

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    lastInterval = 0; } + int_type + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & dst + ) const; + public: #include "BaseCurve_using.hxx" diff --git a/docs/api-cpp/program_listing_file_Clothoids_Circle.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_Circle.hxx.html index 1c878989..96c37443 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_Circle.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_Circle.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File Circle.hxx — Clothoids v2.0.7 + <title>Program Listing for File Circle.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_Clothoid.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_Clothoid.hxx.html index 218926fd..8a80aabb 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_Clothoid.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_Clothoid.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File Clothoid.hxx — Clothoids v2.0.7 + <title>Program Listing for File Clothoid.hxx — Clothoids v2.0.8 @@ -134,7 +134,7 @@

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    ) const; void - closestPoint_internal_ISO( + closestPoint_internal( real_type s_begin, real_type s_end, real_type qx, @@ -146,6 +146,17 @@

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    real_type & dst ) const; + void + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & dst + ) const; + static int_type m_max_iter; static real_type m_tolerance; diff --git a/docs/api-cpp/program_listing_file_Clothoids_ClothoidAsyPlot.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_ClothoidAsyPlot.hxx.html index 68adab5c..9c562907 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_ClothoidAsyPlot.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_ClothoidAsyPlot.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidAsyPlot.hxx — Clothoids v2.0.7 + <title>Program Listing for File ClothoidAsyPlot.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_ClothoidList.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_ClothoidList.hxx.html index b93e29f0..46953f92 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_ClothoidList.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_ClothoidList.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidList.hxx — Clothoids v2.0.7 + <title>Program Listing for File ClothoidList.hxx — Clothoids v2.0.8 @@ -590,6 +590,17 @@

    Navigation

    lastInterval = 0; } + int_type + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & DST + ) const; + public: #include "BaseCurve_using.hxx" diff --git a/docs/api-cpp/program_listing_file_Clothoids_Fresnel.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_Fresnel.hxx.html index 35efd34d..099bc048 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_Fresnel.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_Fresnel.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File Fresnel.hxx — Clothoids v2.0.7 + <title>Program Listing for File Fresnel.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_G2lib.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_G2lib.hxx.html index 1df7ee55..1e194980 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_G2lib.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_G2lib.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File G2lib.hxx — Clothoids v2.0.7 + <title>Program Listing for File G2lib.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_Line.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_Line.hxx.html index e41e0d25..ecf6162f 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_Line.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_Line.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File Line.hxx — Clothoids v2.0.7 + <title>Program Listing for File Line.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_PolyLine.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_PolyLine.hxx.html index 24e7e073..0405629f 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_PolyLine.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_PolyLine.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File PolyLine.hxx — Clothoids v2.0.7 + <title>Program Listing for File PolyLine.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Clothoids_Triangle2D.hxx.html b/docs/api-cpp/program_listing_file_Clothoids_Triangle2D.hxx.html index 84246b72..7c87b20f 100644 --- a/docs/api-cpp/program_listing_file_Clothoids_Triangle2D.hxx.html +++ b/docs/api-cpp/program_listing_file_Clothoids_Triangle2D.hxx.html @@ -7,7 +7,7 @@ - Program Listing for File Triangle2D.hxx — Clothoids v2.0.7 + <title>Program Listing for File Triangle2D.hxx — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Fresnel.cc.html b/docs/api-cpp/program_listing_file_Fresnel.cc.html index 487dca76..a4199d9e 100644 --- a/docs/api-cpp/program_listing_file_Fresnel.cc.html +++ b/docs/api-cpp/program_listing_file_Fresnel.cc.html @@ -7,7 +7,7 @@ - Program Listing for File Fresnel.cc — Clothoids v2.0.7 + <title>Program Listing for File Fresnel.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_G2lib.cc.html b/docs/api-cpp/program_listing_file_G2lib.cc.html index d0a6cd27..b8bb7f04 100644 --- a/docs/api-cpp/program_listing_file_G2lib.cc.html +++ b/docs/api-cpp/program_listing_file_G2lib.cc.html @@ -7,7 +7,7 @@ - Program Listing for File G2lib.cc — Clothoids v2.0.7 + <title>Program Listing for File G2lib.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_G2lib_intersect.cc.html b/docs/api-cpp/program_listing_file_G2lib_intersect.cc.html index 2c0cac9d..5e01b5f8 100644 --- a/docs/api-cpp/program_listing_file_G2lib_intersect.cc.html +++ b/docs/api-cpp/program_listing_file_G2lib_intersect.cc.html @@ -7,7 +7,7 @@ - Program Listing for File G2lib_intersect.cc — Clothoids v2.0.7 + <title>Program Listing for File G2lib_intersect.cc — Clothoids v2.0.8 @@ -238,14 +238,12 @@

    Navigation

    bool collision( BaseCurve const & obj1, BaseCurve const & obj2 ) { - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "collision {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif bool ok = false; switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { @@ -315,14 +313,12 @@

    Navigation

    init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "collision (offs) {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif bool ok = false; switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { @@ -391,14 +387,12 @@

    Navigation

    init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "intersect {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { case G2LIB_LINE: @@ -468,14 +462,12 @@

    Navigation

    init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "intersect (offs) {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { case G2LIB_LINE: diff --git a/docs/api-cpp/program_listing_file_Line.cc.html b/docs/api-cpp/program_listing_file_Line.cc.html index 6b1d828c..6b1b895d 100644 --- a/docs/api-cpp/program_listing_file_Line.cc.html +++ b/docs/api-cpp/program_listing_file_Line.cc.html @@ -7,7 +7,7 @@ - Program Listing for File Line.cc — Clothoids v2.0.7 + <title>Program Listing for File Line.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_PolyLine.cc.html b/docs/api-cpp/program_listing_file_PolyLine.cc.html index 719f882f..f59182b9 100644 --- a/docs/api-cpp/program_listing_file_PolyLine.cc.html +++ b/docs/api-cpp/program_listing_file_PolyLine.cc.html @@ -7,7 +7,7 @@ - Program Listing for File PolyLine.cc — Clothoids v2.0.7 + <title>Program Listing for File PolyLine.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/program_listing_file_Triangle2D.cc.html b/docs/api-cpp/program_listing_file_Triangle2D.cc.html index 257199d5..b679562b 100644 --- a/docs/api-cpp/program_listing_file_Triangle2D.cc.html +++ b/docs/api-cpp/program_listing_file_Triangle2D.cc.html @@ -7,7 +7,7 @@ - Program Listing for File Triangle2D.cc — Clothoids v2.0.7 + <title>Program Listing for File Triangle2D.cc — Clothoids v2.0.8 diff --git a/docs/api-cpp/root.html b/docs/api-cpp/root.html index 1ab7c60e..035cd0e1 100644 --- a/docs/api-cpp/root.html +++ b/docs/api-cpp/root.html @@ -7,7 +7,7 @@ - C++ API — Clothoids v2.0.7 + <title>C++ API — Clothoids v2.0.8 @@ -946,12 +946,30 @@

    Defines + +
    +
    +
    + +

    Typedefs diff --git a/docs/api-cpp/typedef_a00119_1a14cdbec831d7b0dcbeb9623e8c7e33ea.html b/docs/api-cpp/typedef_a00119_1a14cdbec831d7b0dcbeb9623e8c7e33ea.html index 565ee56e..23c30a4d 100644 --- a/docs/api-cpp/typedef_a00119_1a14cdbec831d7b0dcbeb9623e8c7e33ea.html +++ b/docs/api-cpp/typedef_a00119_1a14cdbec831d7b0dcbeb9623e8c7e33ea.html @@ -7,7 +7,7 @@ - Typedef G2lib::real_type — Clothoids v2.0.7 + <title>Typedef G2lib::real_type — Clothoids v2.0.8 diff --git a/docs/api-cpp/typedef_a00119_1a2286cf3603c89c7804f736c1b8eeceba.html b/docs/api-cpp/typedef_a00119_1a2286cf3603c89c7804f736c1b8eeceba.html index 0d341cc3..66691462 100644 --- a/docs/api-cpp/typedef_a00119_1a2286cf3603c89c7804f736c1b8eeceba.html +++ b/docs/api-cpp/typedef_a00119_1a2286cf3603c89c7804f736c1b8eeceba.html @@ -7,7 +7,7 @@ - Typedef G2lib::Ipair — Clothoids v2.0.7 + <title>Typedef G2lib::Ipair — Clothoids v2.0.8 diff --git a/docs/api-cpp/typedef_a00119_1a509a7c586eaab4159b0ecdf0bf213771.html b/docs/api-cpp/typedef_a00119_1a509a7c586eaab4159b0ecdf0bf213771.html index ddb375e7..bad8fcb0 100644 --- a/docs/api-cpp/typedef_a00119_1a509a7c586eaab4159b0ecdf0bf213771.html +++ b/docs/api-cpp/typedef_a00119_1a509a7c586eaab4159b0ecdf0bf213771.html @@ -7,7 +7,7 @@ - Typedef G2lib::IntersectList — Clothoids v2.0.7 + <title>Typedef G2lib::IntersectList — Clothoids v2.0.8 diff --git a/docs/api-cpp/typedef_a00119_1a80cc898bceffe2207e1a7ca34ccadfce.html b/docs/api-cpp/typedef_a00119_1a80cc898bceffe2207e1a7ca34ccadfce.html index 00c52118..39a60f1e 100644 --- a/docs/api-cpp/typedef_a00119_1a80cc898bceffe2207e1a7ca34ccadfce.html +++ b/docs/api-cpp/typedef_a00119_1a80cc898bceffe2207e1a7ca34ccadfce.html @@ -7,7 +7,7 @@ - Typedef G2lib::int_type — Clothoids v2.0.7 + <title>Typedef G2lib::int_type — Clothoids v2.0.8 @@ -44,7 +44,7 @@ - +
    @@ -62,7 +62,7 @@

    Navigation

    next    
  • - previous    
  • Clothoids »
    • @@ -162,7 +162,7 @@

    Navigation

    next    
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  • Clothoids »
    • diff --git a/docs/api-cpp/typedef_a00119_1ae2698e4d24c838228e25dd7ca50616f9.html b/docs/api-cpp/typedef_a00119_1ae2698e4d24c838228e25dd7ca50616f9.html index 8412a37a..b9de7e6d 100644 --- a/docs/api-cpp/typedef_a00119_1ae2698e4d24c838228e25dd7ca50616f9.html +++ b/docs/api-cpp/typedef_a00119_1ae2698e4d24c838228e25dd7ca50616f9.html @@ -7,7 +7,7 @@ - Typedef G2lib::istream_type — Clothoids v2.0.7 + <title>Typedef G2lib::istream_type — Clothoids v2.0.8 diff --git a/docs/api-cpp/typedef_a00119_1af80b04d28d25f23d455e73bb584f3397.html b/docs/api-cpp/typedef_a00119_1af80b04d28d25f23d455e73bb584f3397.html index 565446ff..115fd719 100644 --- a/docs/api-cpp/typedef_a00119_1af80b04d28d25f23d455e73bb584f3397.html +++ b/docs/api-cpp/typedef_a00119_1af80b04d28d25f23d455e73bb584f3397.html @@ -7,7 +7,7 @@ - Typedef G2lib::ostream_type — Clothoids v2.0.7 + <title>Typedef G2lib::ostream_type — Clothoids v2.0.8 diff --git a/docs/api-cpp/unabridged_api.html b/docs/api-cpp/unabridged_api.html index 84cf2739..230497a9 100644 --- a/docs/api-cpp/unabridged_api.html +++ b/docs/api-cpp/unabridged_api.html @@ -7,7 +7,7 @@ - Full API — Clothoids v2.0.7 + <title>Full API — Clothoids v2.0.8 @@ -809,12 +809,30 @@

    Defines +

    +
    +
    +
    + +

    Typedefs diff --git a/docs/api-cpp/unabridged_orphan.html b/docs/api-cpp/unabridged_orphan.html index 68ab89e5..3965de2b 100644 --- a/docs/api-cpp/unabridged_orphan.html +++ b/docs/api-cpp/unabridged_orphan.html @@ -7,7 +7,7 @@ - Full API — Clothoids v2.0.7 + <title>Full API — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1a05bb4344e0f2418b6dad387247986617.html b/docs/api-cpp/variable_a00119_1a05bb4344e0f2418b6dad387247986617.html index a3f44e0b..0f9a43ef 100644 --- a/docs/api-cpp/variable_a00119_1a05bb4344e0f2418b6dad387247986617.html +++ b/docs/api-cpp/variable_a00119_1a05bb4344e0f2418b6dad387247986617.html @@ -7,7 +7,7 @@ - Variable G2lib::intersect_with_AABBtree — Clothoids v2.0.7 + <title>Variable G2lib::intersect_with_AABBtree — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1a22dc08fd48bd175798c0120ad68126f6.html b/docs/api-cpp/variable_a00119_1a22dc08fd48bd175798c0120ad68126f6.html index 9dee2812..3616d3d4 100644 --- a/docs/api-cpp/variable_a00119_1a22dc08fd48bd175798c0120ad68126f6.html +++ b/docs/api-cpp/variable_a00119_1a22dc08fd48bd175798c0120ad68126f6.html @@ -7,7 +7,7 @@ - Variable G2lib::machepsi10 — Clothoids v2.0.7 + <title>Variable G2lib::machepsi10 — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1a4e46ee577d28382a45d279842036eb86.html b/docs/api-cpp/variable_a00119_1a4e46ee577d28382a45d279842036eb86.html index 4a6e9726..cc765b17 100644 --- a/docs/api-cpp/variable_a00119_1a4e46ee577d28382a45d279842036eb86.html +++ b/docs/api-cpp/variable_a00119_1a4e46ee577d28382a45d279842036eb86.html @@ -7,7 +7,7 @@ - Variable G2lib::machepsi1000 — Clothoids v2.0.7 + <title>Variable G2lib::machepsi1000 — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1a83d7ce40a3e4a860b91dd8df81408892.html b/docs/api-cpp/variable_a00119_1a83d7ce40a3e4a860b91dd8df81408892.html index 185b2e08..5ba95123 100644 --- a/docs/api-cpp/variable_a00119_1a83d7ce40a3e4a860b91dd8df81408892.html +++ b/docs/api-cpp/variable_a00119_1a83d7ce40a3e4a860b91dd8df81408892.html @@ -7,7 +7,7 @@ - Variable G2lib::machepsi100 — Clothoids v2.0.7 + <title>Variable G2lib::machepsi100 — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1a87e08bc343d60eadd2938d68ebc1f61b.html b/docs/api-cpp/variable_a00119_1a87e08bc343d60eadd2938d68ebc1f61b.html index d675ce5c..a6d17dc6 100644 --- a/docs/api-cpp/variable_a00119_1a87e08bc343d60eadd2938d68ebc1f61b.html +++ b/docs/api-cpp/variable_a00119_1a87e08bc343d60eadd2938d68ebc1f61b.html @@ -7,7 +7,7 @@ - Variable G2lib::machepsi — Clothoids v2.0.7 + <title>Variable G2lib::machepsi — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1ab7ae60f08d4dcaa2b289bdd7bb3dc4ee.html b/docs/api-cpp/variable_a00119_1ab7ae60f08d4dcaa2b289bdd7bb3dc4ee.html index 80a6d6dc..6fa9fefd 100644 --- a/docs/api-cpp/variable_a00119_1ab7ae60f08d4dcaa2b289bdd7bb3dc4ee.html +++ b/docs/api-cpp/variable_a00119_1ab7ae60f08d4dcaa2b289bdd7bb3dc4ee.html @@ -7,7 +7,7 @@ - Variable G2lib::m_1_sqrt_pi — Clothoids v2.0.7 + <title>Variable G2lib::m_1_sqrt_pi — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1ad9c31883e4f8e91c7138f23a22eafb47.html b/docs/api-cpp/variable_a00119_1ad9c31883e4f8e91c7138f23a22eafb47.html index dec33117..2df65f76 100644 --- a/docs/api-cpp/variable_a00119_1ad9c31883e4f8e91c7138f23a22eafb47.html +++ b/docs/api-cpp/variable_a00119_1ad9c31883e4f8e91c7138f23a22eafb47.html @@ -7,7 +7,7 @@ - Variable G2lib::CurveType_name — Clothoids v2.0.7 + <title>Variable G2lib::CurveType_name — Clothoids v2.0.8 diff --git a/docs/api-cpp/variable_a00119_1ae2356d66f8dc864eddfdd3ad1db95266.html b/docs/api-cpp/variable_a00119_1ae2356d66f8dc864eddfdd3ad1db95266.html index 07f8a684..2188a46e 100644 --- a/docs/api-cpp/variable_a00119_1ae2356d66f8dc864eddfdd3ad1db95266.html +++ b/docs/api-cpp/variable_a00119_1ae2356d66f8dc864eddfdd3ad1db95266.html @@ -7,7 +7,7 @@ - Variable G2lib::sqrtMachepsi — Clothoids v2.0.7 + <title>Variable G2lib::sqrtMachepsi — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00068.html b/docs/api-matlab/class_a00068.html index a851b38f..8598319f 100644 --- a/docs/api-matlab/class_a00068.html +++ b/docs/api-matlab/class_a00068.html @@ -7,7 +7,7 @@ - Class Biarc — Clothoids v2.0.7 + <title>Class Biarc — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00072.html b/docs/api-matlab/class_a00072.html index 024badcb..8eb3ded2 100644 --- a/docs/api-matlab/class_a00072.html +++ b/docs/api-matlab/class_a00072.html @@ -7,7 +7,7 @@ - Class BiarcList — Clothoids v2.0.7 + <title>Class BiarcList — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00076.html b/docs/api-matlab/class_a00076.html index 65e47272..7ec8fe53 100644 --- a/docs/api-matlab/class_a00076.html +++ b/docs/api-matlab/class_a00076.html @@ -7,7 +7,7 @@ - Class CircleArc — Clothoids v2.0.7 + <title>Class CircleArc — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00080.html b/docs/api-matlab/class_a00080.html index 54fba46a..c6e923bb 100644 --- a/docs/api-matlab/class_a00080.html +++ b/docs/api-matlab/class_a00080.html @@ -7,7 +7,7 @@ - Class ClothoidCurve — Clothoids v2.0.7 + <title>Class ClothoidCurve — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00084.html b/docs/api-matlab/class_a00084.html index b27d21b8..e4309213 100644 --- a/docs/api-matlab/class_a00084.html +++ b/docs/api-matlab/class_a00084.html @@ -7,7 +7,7 @@ - Class ClothoidList — Clothoids v2.0.7 + <title>Class ClothoidList — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00088.html b/docs/api-matlab/class_a00088.html index 7f989981..6f68126a 100644 --- a/docs/api-matlab/class_a00088.html +++ b/docs/api-matlab/class_a00088.html @@ -7,7 +7,7 @@ - Class ClothoidSplineG2 — Clothoids v2.0.7 + <title>Class ClothoidSplineG2 — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00092.html b/docs/api-matlab/class_a00092.html index 2612d601..15413449 100644 --- a/docs/api-matlab/class_a00092.html +++ b/docs/api-matlab/class_a00092.html @@ -7,7 +7,7 @@ - Class CurveBase — Clothoids v2.0.7 + <title>Class CurveBase — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00096.html b/docs/api-matlab/class_a00096.html index 384c970d..2db7331d 100644 --- a/docs/api-matlab/class_a00096.html +++ b/docs/api-matlab/class_a00096.html @@ -7,7 +7,7 @@ - Class LineSegment — Clothoids v2.0.7 + <title>Class LineSegment — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00100.html b/docs/api-matlab/class_a00100.html index c9f0b6c3..d6e25922 100644 --- a/docs/api-matlab/class_a00100.html +++ b/docs/api-matlab/class_a00100.html @@ -7,7 +7,7 @@ - Class PolyLine — Clothoids v2.0.7 + <title>Class PolyLine — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_a00104.html b/docs/api-matlab/class_a00104.html index 0b2fc6dd..03c965de 100644 --- a/docs/api-matlab/class_a00104.html +++ b/docs/api-matlab/class_a00104.html @@ -7,7 +7,7 @@ - Class Triangle2D — Clothoids v2.0.7 + <title>Class Triangle2D — Clothoids v2.0.8 diff --git a/docs/api-matlab/class_view_hierarchy.html b/docs/api-matlab/class_view_hierarchy.html index 8002a922..293750fa 100644 --- a/docs/api-matlab/class_view_hierarchy.html +++ b/docs/api-matlab/class_view_hierarchy.html @@ -7,7 +7,7 @@ - Class Hierarchy — Clothoids v2.0.7 + <title>Class Hierarchy — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_Biarc.m.html b/docs/api-matlab/file_Biarc.m.html index 2d063735..c47c6518 100644 --- a/docs/api-matlab/file_Biarc.m.html +++ b/docs/api-matlab/file_Biarc.m.html @@ -7,7 +7,7 @@ - File Biarc.m — Clothoids v2.0.7 + <title>File Biarc.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_BiarcList.m.html b/docs/api-matlab/file_BiarcList.m.html index 574d2604..8e0fbcc6 100644 --- a/docs/api-matlab/file_BiarcList.m.html +++ b/docs/api-matlab/file_BiarcList.m.html @@ -7,7 +7,7 @@ - File BiarcList.m — Clothoids v2.0.7 + <title>File BiarcList.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_CircleArc.m.html b/docs/api-matlab/file_CircleArc.m.html index 95111bd5..8c54e2ae 100644 --- a/docs/api-matlab/file_CircleArc.m.html +++ b/docs/api-matlab/file_CircleArc.m.html @@ -7,7 +7,7 @@ - File CircleArc.m — Clothoids v2.0.7 + <title>File CircleArc.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_ClothoidCurve.m.html b/docs/api-matlab/file_ClothoidCurve.m.html index c6d2c597..f5cc80ed 100644 --- a/docs/api-matlab/file_ClothoidCurve.m.html +++ b/docs/api-matlab/file_ClothoidCurve.m.html @@ -7,7 +7,7 @@ - File ClothoidCurve.m — Clothoids v2.0.7 + <title>File ClothoidCurve.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_ClothoidList.m.html b/docs/api-matlab/file_ClothoidList.m.html index b80e5d0a..d874b46e 100644 --- a/docs/api-matlab/file_ClothoidList.m.html +++ b/docs/api-matlab/file_ClothoidList.m.html @@ -7,7 +7,7 @@ - File ClothoidList.m — Clothoids v2.0.7 + <title>File ClothoidList.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_ClothoidSplineG2.m.html b/docs/api-matlab/file_ClothoidSplineG2.m.html index d2ab9a73..bd3d42d1 100644 --- a/docs/api-matlab/file_ClothoidSplineG2.m.html +++ b/docs/api-matlab/file_ClothoidSplineG2.m.html @@ -7,7 +7,7 @@ - File ClothoidSplineG2.m — Clothoids v2.0.7 + <title>File ClothoidSplineG2.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_CompileOctave.m.html b/docs/api-matlab/file_CompileOctave.m.html index 55cff979..2b01fe56 100644 --- a/docs/api-matlab/file_CompileOctave.m.html +++ b/docs/api-matlab/file_CompileOctave.m.html @@ -7,7 +7,7 @@ - File CompileOctave.m — Clothoids v2.0.7 + <title>File CompileOctave.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_CurveBase.m.html b/docs/api-matlab/file_CurveBase.m.html index c0876306..0bbf3ebc 100644 --- a/docs/api-matlab/file_CurveBase.m.html +++ b/docs/api-matlab/file_CurveBase.m.html @@ -7,7 +7,7 @@ - File CurveBase.m — Clothoids v2.0.7 + <title>File CurveBase.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_LineSegment.m.html b/docs/api-matlab/file_LineSegment.m.html index 6744ac09..0fe6271a 100644 --- a/docs/api-matlab/file_LineSegment.m.html +++ b/docs/api-matlab/file_LineSegment.m.html @@ -7,7 +7,7 @@ - File LineSegment.m — Clothoids v2.0.7 + <title>File LineSegment.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_PolyLine.m.html b/docs/api-matlab/file_PolyLine.m.html index 38cb4bb1..2b278803 100644 --- a/docs/api-matlab/file_PolyLine.m.html +++ b/docs/api-matlab/file_PolyLine.m.html @@ -7,7 +7,7 @@ - File PolyLine.m — Clothoids v2.0.7 + <title>File PolyLine.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_TriTriOverlap.m.html b/docs/api-matlab/file_TriTriOverlap.m.html index f1509b6f..19cb5b7c 100644 --- a/docs/api-matlab/file_TriTriOverlap.m.html +++ b/docs/api-matlab/file_TriTriOverlap.m.html @@ -7,7 +7,7 @@ - File TriTriOverlap.m — Clothoids v2.0.7 + <title>File TriTriOverlap.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_Triangle2D.m.html b/docs/api-matlab/file_Triangle2D.m.html index 29b8cad5..cb199ffa 100644 --- a/docs/api-matlab/file_Triangle2D.m.html +++ b/docs/api-matlab/file_Triangle2D.m.html @@ -7,7 +7,7 @@ - File Triangle2D.m — Clothoids v2.0.7 + <title>File Triangle2D.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/file_view_hierarchy.html b/docs/api-matlab/file_view_hierarchy.html index eb74ac69..55673cc1 100644 --- a/docs/api-matlab/file_view_hierarchy.html +++ b/docs/api-matlab/file_view_hierarchy.html @@ -7,7 +7,7 @@ - File Hierarchy — Clothoids v2.0.7 + <title>File Hierarchy — Clothoids v2.0.8 diff --git a/docs/api-matlab/function_a00062_1a1ab9fbe6bf4f16efdaef918d8d6e1bc8.html b/docs/api-matlab/function_a00062_1a1ab9fbe6bf4f16efdaef918d8d6e1bc8.html index 4e0704b9..8c81d8f3 100644 --- a/docs/api-matlab/function_a00062_1a1ab9fbe6bf4f16efdaef918d8d6e1bc8.html +++ b/docs/api-matlab/function_a00062_1a1ab9fbe6bf4f16efdaef918d8d6e1bc8.html @@ -7,7 +7,7 @@ - Function TriTriOverlap — Clothoids v2.0.7 + <title>Function TriTriOverlap — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_Biarc.m.html b/docs/api-matlab/program_listing_file_Biarc.m.html index 01fcd5f0..fdeccaa7 100644 --- a/docs/api-matlab/program_listing_file_Biarc.m.html +++ b/docs/api-matlab/program_listing_file_Biarc.m.html @@ -7,7 +7,7 @@ - Program Listing for File Biarc.m — Clothoids v2.0.7 + <title>Program Listing for File Biarc.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_BiarcList.m.html b/docs/api-matlab/program_listing_file_BiarcList.m.html index 102d30ec..05360e62 100644 --- a/docs/api-matlab/program_listing_file_BiarcList.m.html +++ b/docs/api-matlab/program_listing_file_BiarcList.m.html @@ -7,7 +7,7 @@ - Program Listing for File BiarcList.m — Clothoids v2.0.7 + <title>Program Listing for File BiarcList.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_CircleArc.m.html b/docs/api-matlab/program_listing_file_CircleArc.m.html index e5f41c79..e50782e4 100644 --- a/docs/api-matlab/program_listing_file_CircleArc.m.html +++ b/docs/api-matlab/program_listing_file_CircleArc.m.html @@ -7,7 +7,7 @@ - Program Listing for File CircleArc.m — Clothoids v2.0.7 + <title>Program Listing for File CircleArc.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_ClothoidCurve.m.html b/docs/api-matlab/program_listing_file_ClothoidCurve.m.html index b69ace73..f3f57676 100644 --- a/docs/api-matlab/program_listing_file_ClothoidCurve.m.html +++ b/docs/api-matlab/program_listing_file_ClothoidCurve.m.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidCurve.m — Clothoids v2.0.7 + <title>Program Listing for File ClothoidCurve.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_ClothoidList.m.html b/docs/api-matlab/program_listing_file_ClothoidList.m.html index 5743db44..c3702c96 100644 --- a/docs/api-matlab/program_listing_file_ClothoidList.m.html +++ b/docs/api-matlab/program_listing_file_ClothoidList.m.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidList.m — Clothoids v2.0.7 + <title>Program Listing for File ClothoidList.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_ClothoidSplineG2.m.html b/docs/api-matlab/program_listing_file_ClothoidSplineG2.m.html index 1ad80950..2c60326d 100644 --- a/docs/api-matlab/program_listing_file_ClothoidSplineG2.m.html +++ b/docs/api-matlab/program_listing_file_ClothoidSplineG2.m.html @@ -7,7 +7,7 @@ - Program Listing for File ClothoidSplineG2.m — Clothoids v2.0.7 + <title>Program Listing for File ClothoidSplineG2.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_CompileOctave.m.html b/docs/api-matlab/program_listing_file_CompileOctave.m.html index ba078615..c1001d9b 100644 --- a/docs/api-matlab/program_listing_file_CompileOctave.m.html +++ b/docs/api-matlab/program_listing_file_CompileOctave.m.html @@ -7,7 +7,7 @@ - Program Listing for File CompileOctave.m — Clothoids v2.0.7 + <title>Program Listing for File CompileOctave.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_CurveBase.m.html b/docs/api-matlab/program_listing_file_CurveBase.m.html index 87760dbb..d20f760c 100644 --- a/docs/api-matlab/program_listing_file_CurveBase.m.html +++ b/docs/api-matlab/program_listing_file_CurveBase.m.html @@ -7,7 +7,7 @@ - Program Listing for File CurveBase.m — Clothoids v2.0.7 + <title>Program Listing for File CurveBase.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_LineSegment.m.html b/docs/api-matlab/program_listing_file_LineSegment.m.html index 0c009ea6..5e058207 100644 --- a/docs/api-matlab/program_listing_file_LineSegment.m.html +++ b/docs/api-matlab/program_listing_file_LineSegment.m.html @@ -7,7 +7,7 @@ - Program Listing for File LineSegment.m — Clothoids v2.0.7 + <title>Program Listing for File LineSegment.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_PolyLine.m.html b/docs/api-matlab/program_listing_file_PolyLine.m.html index 48c1482b..b1820ab1 100644 --- a/docs/api-matlab/program_listing_file_PolyLine.m.html +++ b/docs/api-matlab/program_listing_file_PolyLine.m.html @@ -7,7 +7,7 @@ - Program Listing for File PolyLine.m — Clothoids v2.0.7 + <title>Program Listing for File PolyLine.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_TriTriOverlap.m.html b/docs/api-matlab/program_listing_file_TriTriOverlap.m.html index 1a259e2d..0c5df758 100644 --- a/docs/api-matlab/program_listing_file_TriTriOverlap.m.html +++ b/docs/api-matlab/program_listing_file_TriTriOverlap.m.html @@ -7,7 +7,7 @@ - Program Listing for File TriTriOverlap.m — Clothoids v2.0.7 + <title>Program Listing for File TriTriOverlap.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/program_listing_file_Triangle2D.m.html b/docs/api-matlab/program_listing_file_Triangle2D.m.html index c815f9ff..5942f75b 100644 --- a/docs/api-matlab/program_listing_file_Triangle2D.m.html +++ b/docs/api-matlab/program_listing_file_Triangle2D.m.html @@ -7,7 +7,7 @@ - Program Listing for File Triangle2D.m — Clothoids v2.0.7 + <title>Program Listing for File Triangle2D.m — Clothoids v2.0.8 diff --git a/docs/api-matlab/root.html b/docs/api-matlab/root.html index aee7d8a0..8f7edda1 100644 --- a/docs/api-matlab/root.html +++ b/docs/api-matlab/root.html @@ -7,7 +7,7 @@ - MATLAB API — Clothoids v2.0.7 + <title>MATLAB API — Clothoids v2.0.8 diff --git a/docs/api-matlab/unabridged_api.html b/docs/api-matlab/unabridged_api.html index 91c541ad..f5200a21 100644 --- a/docs/api-matlab/unabridged_api.html +++ b/docs/api-matlab/unabridged_api.html @@ -7,7 +7,7 @@ - Full API — Clothoids v2.0.7 + <title>Full API — Clothoids v2.0.8 diff --git a/docs/api-matlab/unabridged_orphan.html b/docs/api-matlab/unabridged_orphan.html index 4d00c96e..3e33880e 100644 --- a/docs/api-matlab/unabridged_orphan.html +++ b/docs/api-matlab/unabridged_orphan.html @@ -7,7 +7,7 @@ - Full API — Clothoids v2.0.7 + <title>Full API — Clothoids v2.0.8 diff --git a/docs/authors.html b/docs/authors.html index 4d42240f..a5507ac3 100644 --- a/docs/authors.html +++ b/docs/authors.html @@ -7,7 +7,7 @@ - Authors — Clothoids v2.0.7 + <title>Authors — Clothoids v2.0.8 diff --git a/docs/genindex.html b/docs/genindex.html index ff11e493..ac227675 100644 --- a/docs/genindex.html +++ b/docs/genindex.html @@ -7,7 +7,7 @@ - Index — Clothoids v2.0.7 + <title>Index — Clothoids v2.0.8 @@ -2624,6 +2624,8 @@

    F

    G

    @@ -3741,4 +3745,4 @@

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,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,106,107,108,109,111,112,113,114,115,116,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,190],clothoid_list:[126,146],clothoidasyplot:[8,21,32,53,110,131,139,189],clothoidcurv:[3,6,8,9,10,11,12,15,16,27,39,100,105,106,107,108,109,116,117,118,119,122,123,127,129,131,138,152,154,156,171,177,178,182,185,186,187,189],clothoidcurveclass:[18,131,158,185],clothoidcurvemexwrapp:[176,179],clothoiddata:[107,117,120,125],clothoiddist:[32,53,131,139,179],clothoidg2:[32,53,61,131,139,179],clothoidlib:106,clothoidlist:[3,9,10,11,13,16,21,32,35,53,100,105,110,115,117,123,127,129,131,138,139,154,156,171,178,179,182,185,186,187,189],clothoidlistclass:[18,131,158,185],clothoidlistmexwrapp:[177,179],clothoidoffset:106,clothoidpoint:106,clothoids_dot_hh:[32,110,131,138],clothoidsfil:[53,131],clothoidsplineg2:[30,41,100,108,119,131,138,171,185,186,187,189],clothoidsplineg2class:[18,131,158,185],clothoidsplineg2mexwrapp:[178,179],clotoidi:108,clousur:12,cmake:189,cmath:[26,27,32,47,104,105,110,125],cmd:179,cmdcomp:106,cmdopen:106,code:[173,174,175,176,177,180,181,182,184,189],coef:175,coeff:108,colinear:128,collect:[2,16,73,88,94],collid:[1,2,148,149,150,151,152,154,155,156,180],collinear:128,collis:[1,2,3,4,5,6,7,12,15,16,49,100,101,103,104,105,109,111,112,114,115,116,117,119,122,123,127,128,129,131,138,148,149,150,151,152,154,155,156,180],collision_fun:[2,111],collision_iso:[3,4,5,6,7,12,15,16,49,100,103,104,105,109,112,114,115,116,117,119,122,123,127,128,131,138],collision_list:[123,129],collision_sa:[3,4,5,6,7,12,15,16,34,100,112,131,138],color:[0,148,149,150,151,152,154,155,156,157,173,174,175,176,177,180,181,182,184],com:[0,98,125,189],comand:0,combin:[9,10],command:0,compar:7,compil:[0,110,127,179,189],compileclothoidslib:[0,183,189],compilefil:[106,118],compileoctav:[171,185,187],compiut:[148,149,150,151,152,154,155,156,180],complex:2,complexroot:126,compon:[3,4,5,6,7,12,15,16],compos:[9,10,11,12,148,153,173,178],comput:[0,2,3,4,5,6,7,11,12,13,15,16,59,63,64,78,93,96,98,100,105,108,114,120,125,126,130,148,149,150,151,152,153,154,155,156,174,176,178,180,189,190],compute_deriv:[120,125],comunqu:108,con:[153,178],condit:[153,178,189],connect:[0,5,12],consecut:[96,149,153,174,178],consecutivi:109,consequenti:189,consid:107,consist:[126,152,177],consol:[148,150,151,154,155,156,180,189],const_iter:[101,103,105,109,111,129],constant:0,constraint:[13,108,119,178],constrainttoler:178,construct:[1,2,4,5,6,7,9,10,11,15,96,153,178],constructor:[102,103,104,105,112,125,126,127,128,129,173],constuctor:189,contain:[0,5,12,130,148,149,150,151,152,154,155,156,180,182],content:2,continu:[0,12,109,126,153,178,189,190],contract:189,contributor:189,controllar:125,convenct:[152,177],converg:[105,107,108,109,125],convers:[103,108,109],convert:[102,103,104,105,128,129],coodin:[0,3,4,5,6,7,12,15,16],cooordin:7,coordin:[0,1,2,3,4,5,6,7,11,12,15,16,70,71,74,81,96,148,149,150,151,152,154,155,156,157,172,173,174,175,176,177,180,181,182,183,184],copi:[1,4,5,6,7,12,15,16,103,105,108,109,114,115,116,117,119,122,123,129,148,149,150,151,152,154,155,156,180],copia:109,coplanar:130,copy_n:108,copyright:[101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,189],corrdin:[151,176],correspond:180,cos:[6,7,59,63,64,66,71,84,87,89,90,95,98,102,104,105,107,108,114,116,120,121,122,125,126,128,130,173,176],cosal:104,cosc:[48,100,121,125,126,131,138],cosc_d:[48,100,121,126,131,138],cosc_dd:[48,100,121,126,131,138],cosc_ddd:[48,100,121,126,131,138],cosin:[63,64,125],cosom:104,costheta0:[6,116],costruisco:[104,108],cosu:125,counter:83,counterclock:128,counterclockwis:[17,83,128],cout:[106,129],cover:[1,3,4,5,7,12,15,16,148,149,150,151,152,154,155,156,180],crea:109,creat:[2,148,149,150,151,152,155,156,157,173,174,175,176,177,181,182,184],crescent:107,csf:107,cubic:[125,179],cubicsolv:125,currbox:101,curv:[0,2,3,4,5,6,7,11,12,15,16,17,67,73,80,88,91,94,96,107,108,125,148,149,150,151,152,154,155,156,173,175,176,177,180,181,182],curvatir:7,curvatur:[0,3,4,5,6,7,9,10,11,12,15,16,71,75,89,90,102,109,112,114,116,148,149,150,151,152,153,154,155,156,173,174,175,176,177,178,180,189,190],curvatureminmax:[7,11,105,108,117,119],curvaturetotalvari:[7,11,105,117,119],curvebas:[148,149,150,151,152,155,156,171,173,174,175,176,177,181,182,185,186,187],curvebaseclass:[158,185],curvetyp:[3,4,5,6,7,12,15,16,18,34,100,112,127,131,138],curvetype_nam:[48,100,102,103,104,105,112,126,127,128,129,131,138],curviliear:[151,176],curvilinar:[149,174],curvilinear:[0,3,4,5,6,7,11,12,15,16,148,149,150,151,152,154,155,156,173,174,176,177,180,181,182],cut:[0,3,4,5,6,7,12,15,16,148,149,150,151,152,154,155,156,180],cutpo:101,cycl:106,cyclic:[153,178],damag:189,dangl:126,data:[3,4,5,6,7,9,10,11,12,15,16,108,109,119,148,149,152,173,174,177,189],date:[98,125],dati:108,dc0:125,dc1:125,dc2:125,ddf:[102,107],deactiv:[148,149,150,151,152,154,155,156,180],debug:[127,153,178],decemb:130,decrescent:107,defin:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,22,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,105,110,125,130,132,133,134,135,136,137,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,172,174,177],definit:[139,187],definiton:12,degener:[5,6,17,122,150,175],degli:[0,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,188,189],degre:[115,116,117,119,122,123],delet:[101,112,178,179,180,184],dell:[101,110,111,113],delta:[102,125],delta_theta:[4,6,114,116],deltak:[108,119],deltakappa:[12,109,119,152,177],deltatheta:[6,7,11,12,105,108,109,116,117,119,120,152,177],denterm:125,depart:183,deriv:[0,4,5,6,7,11,12,15,16,59,131,138,148,149,150,151,152,153,155,156,176,177,178,180,185,186],derivative_test:178,derivative_test_perturb:178,derivative_test_tol:178,derivatuv:[148,149,150,151,152,154,155,156,180],derivatv:[151,176],describ:[0,7,11,130,151,153,176,178],descript:[0,131,138],descrit:0,desid:11,design:[0,4,189,190],destroi:[2,157,180,184],destruct:180,destructor:127,det:[105,125,126,128],detail:[128,131,138],detect:[1,3,4,5,6,7,12,15,16,117],determin:[152,177],dev:106,devil:130,devit:[3,4,5,6,12,15,16],diagnost:[103,108,109,125,126,127],diff2pi:[108,119],diff:178,differ:[11,12,178],difference_typ:129,dii:[0,188,189],dim:[153,178],dimension:[2,130],dipartimento:[0,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,188,189],direct:[0,71,75,89,148,149,150,151,152,154,155,156,180,181,189],directori:[0,33,34,35,36,37,38,39,40,41,42,43,44,45,46,53,131],disabl:93,disc:126,disclaim:189,disp:179,displai:178,displayax:[8,106,118],displaystyl:[7,153,178],dist:178,distanc:[1,2,3,4,5,6,7,12,15,16,75,89,96,101,103,105,109,111,112,113,130,148,149,150,151,152,154,155,156,174,176,177,178,180,189,190],distance_iso:[3,4,5,6,7,12,15,16,112,113],distance_sa:[3,4,5,6,7,12,15,16,112,113],distancebysampl:[7,117,151,152,176,177],distancemax:[157,184],distancemin:[157,184],distanza:[107,128],distinct:[153,178],distmax:[17,124,130],distmin:[17,103,105,109,124,130],distribut:189,distseg:130,diverg:[11,107],dk0:108,dk0_sm:108,dk0_thm:108,dk1:108,dk1_sm:108,dk1_thm:108,dk2:[105,108],dk3:[105,108],dk4:105,dk5:105,dk6:105,dk_d:[7,108,117,120,125],dk_l:108,dk_r:108,dkappa:[7,12,106,108,109,117,119,151,152,176,177],dkl:108,dkl_d:108,dkm:108,dkm_sm:108,dkm_thm:108,dkr:108,dkr_d:108,dkur:108,dmax:[11,108,119],dmin:101,document:[0,101,102,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,138,173,174,175,176,177,178,179,180,181,182,183,184,185,186,189],doesn:128,doi:[0,151,176,189,190],domega:126,done:[127,179],dot:[8,106,118],doubl:[110,130,132,180],download:[0,189],doxygen_should_skip_thi:[103,105,107,108,109,115,117,119,120,123,125,126,127,128,129,130],draw:106,drawclothoid:[8,106,118],drawlin:[8,106,118],drawrect:[8,106,118],ds0:125,ds1:125,ds2:125,dsm2:108,dsm:108,dsmsm:108,dss:105,dst1:[102,105,109,129],dst:[3,4,5,6,7,12,15,16,101,102,103,104,105,107,109,112,114,115,116,117,119,121,122,123,128,129,148,149,150,151,152,154,155,156,176,177,180,184],dt2:125,dth0:102,dth1:102,dth:[102,108,125],dtheta:[104,107,120,125,177],dx1:[126,130],dx2:126,dxa:[102,104],dxb:[102,104],dxc:104,dy1:[126,130],dy2:126,dya:[102,104],dyb:[102,104],dyc:104,dylib:189,each:[3,4,5,6,7,12,15,16,73,88,94,96,130],easi:0,ebertolazzi:[0,189],effici:2,elaps:178,element:109,ell:[107,125],els:[101,102,103,104,105,106,107,108,109,111,112,121,122,125,126,127,128,129,130,173,174,175,176,177,178,180,182],elseif:[174,177,179],email:[0,98,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,188,189],empti:[0,2,4,5,6,7,9,10,12,101,103,106,109,111,129,150,155,175,181],enabl:78,end:[7,9,10,11,101,102,103,105,109,111,123,129,153,173,174,175,176,177,178,179,180,181,182,183,184],endif:[101,103,104,105,107,108,109,110,111,112,113,115,117,119,120,121,123,125,126,127,128,129,130],endl:106,endpoint:[9,10,11],endrst:[173,174,175,176,177,178,180,181,182,184],energi:4,engin:183,enrico:[0,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,183,188,189],entrambi:107,enumer:[13,22],eof:[103,104,105,107,108,109,125,126,127,128,129],eps10:125,eps1:[104,105],eps2:[104,105],eps:125,epsi:[12,102,107,109,119,121,126,128],epsilon:[102,126,144],equat:[70,74],eras:[101,103,109,129],err1:109,err2:109,err:[103,105,109,129],error:[109,148,149,150,151,152,154,155,156,173,174,177,178,180,183],espilon:144,estim:[12,105,152,177],estremi:107,eval:[0,3,4,5,6,7,11,12,15,16,102,103,104,105,107,108,109,112,113,114,115,116,117,119,120,122,123,125,126,128,148,149,150,151,152,154,155,156,175,176,179,180],eval_d:[0,3,4,5,6,7,11,12,15,16,102,103,104,108,109,112,113,114,115,116,117,119,120,122,123,125,126,148,149,150,151,152,154,155,156,180],eval_dae_dd:120,eval_dd:[0,3,4,5,6,7,11,12,15,16,102,103,104,108,109,112,113,114,115,116,117,119,120,122,123,125,126,148,149,150,151,152,154,155,156,180],eval_ddd:[0,3,4,5,6,7,11,12,15,16,102,103,104,108,109,112,113,114,115,116,117,119,120,122,123,125,126,148,149,150,151,152,154,155,156,180],eval_iso:[3,4,5,6,7,11,12,15,16,102,103,104,105,108,109,112,113,114,115,117,119,120,122,123,125,126,128,129],eval_iso_d:[3,4,5,6,7,11,12,15,16,102,103,105,108,109,112,113,114,115,117,119,120,122,123,125,126],eval_iso_dd:[3,4,5,6,7,11,12,15,16,102,103,108,109,112,113,114,115,117,119,120,122,123,125,126],eval_iso_ddd:[3,4,5,6,7,11,12,15,16,102,103,108,109,112,113,114,115,117,119,120,122,123,125,126],eval_sa:[3,4,5,6,7,12,15,16,112,113,120],eval_sae_d:[3,4,5,6,7,12,15,16,112,113,120],eval_sae_dd:[3,4,5,6,7,12,15,16,112,113],eval_sae_ddd:[3,4,5,6,7,12,15,16,112,113,120],evala:[108,119],evalf:[108,119],evalfj:[108,119],evalg:[108,119],evalu:[3,4,5,6,7,12,15,16,102,103,107,108,109,112,113,114,115,116,117,119,120,125,148,149,150,151,152,154,155,156,173,174,176,177,180,189],evaluate_iso:[3,4,5,6,7,12,15,16,103,109,112,113,115,119],evaluate_sa:[3,4,5,6,7,12,15,16,112,113],evalxyalarg:125,evalxyasmal:125,evalxyazero:125,even:[152,156,177,182,189],event:189,everi:[149,152,174,177],exampl:[0,98],exchang:2,exemplari:189,exist:[4,6,7,9,10,12,178],exitflag:178,expans:125,expect:[174,177],explicit:[4,5,6,7,12,15,16,114,115,116,117,119,122,123],export_rubi:[12,109,119,152,177],export_t:[12,109,119,152,177],express:189,extend:0,extern:[112,121],extrema:[153,178],f_j:108,facealpha:[148,149,150,151,152,154,155,156,180],fact:[0,14,125],factor:[0,3,4,5,6,7,12,14,15,16,108,121,126,148,149,150,151,152,154,155,156,157,175,180,184],faculti:[0,188,189],fail:[9,10,11,12,14,102,106,109,152,173,177,178],fair:4,fall:128,fals:[2,4,12,14,102,103,104,105,107,108,109,111,115,117,119,120,121,123,125,126,127,128,129,130,178],fast:130,fclose:[174,177],feval:180,field:[152,177],file:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,19,20,22,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,132,133,134,135,136,137,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,172,189,190],fileexchag:83,filenam:[8,106,118,149,152,174,177],fill:[106,108,180,184],fill_n:108,find:[0,3,4,5,6,7,12,15,16,102,106,128,149,151,152,174,176,177],find_coord1:[149,152,174,177],find_coord:[148,149,150,151,152,154,155,156,173,180],findat:[5,12,16,103,109,115,119,123,129],findst1:[5,12,103,109,115,119,174,177],findst:[103,109,112,173,180],findst_iso:[3,4,5,6,7,12,15,16,103,109,112],findst_sa:[3,4,5,6,7,12,15,16,112],finit:178,finitedifferencetyp:178,first:[0,3,4,5,6,7,9,10,11,12,15,16,67,70,72,73,74,80,83,88,90,91,94,101,102,103,105,109,111,125,129,148,149,150,151,152,153,154,155,156,172,173,174,177,178,180,182,183],fit:[0,4,11,12,190],fix:[9,10,11,151,176],flag:12,flat:83,flex:[105,107,125],floor:[104,105,125],fmincon:178,fmod:[109,126],fmt1:[0,148,149,152,156,173,174,177,182],fmt2:[0,148,149,152,156,173,174,177,182],fmt:[101,104,105,108,109,111,125,127,128,129,130,150,175],fname:[152,177],follow:[0,7,12,128,189],fontsiz:106,foo:111,fopen:[174,177],forc:105,forg:179,forget:189,form:[0,107,149,152,174,177,189],format:[0,105,109,148,149,150,152,156,173,174,175,177,182],formula:128,forward:[7,108],found:[3,4,5,6,7,12,14,15,16,102,109,122],four:128,fp_infinit:[108,126],fp_nan:[108,126],fpclassifi:[108,126,127],fprintf:[174,177,179],frac:[54,55,58,59,62,63,64,65,66,68,84,85,86,87,90,95],frame:108,free:[0,188,189],frego:[0,7,11,118,151,153,176,178,188,189,190],fresnel:[7,21,32,53,59,63,64,98,100,108,110,131,139,179,189],fresnelc:[47,100,107,120,125,131,138,179,189],friend:[1,4,5,6,7,11,12,13,15,16,17,111,114,115,116,117,119,122,123,124],from:[0,4,5,6,7,11,12,15,16,71,75,83,89,98,102,103,104,105,106,108,125,128,129,130,148,149,150,151,152,154,155,156,174,175,176,177,180,181],front:[101,103,109,115,119,123,129],fsolv:178,fstream:[32,110],full:[126,189],fun:[103,105,109,129],func:178,g2lib:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,21,22,23,24,25,26,27,28,29,30,31,32,33,34,36,37,38,39,40,41,42,44,45,46,47,49,50,51,52,53,101,102,103,104,105,106,107,108,109,110,111,112,114,115,116,117,118,119,120,122,123,124,125,127,128,129,130,131,138,139,179,189],g2lib_biarc:[22,102,103,104,105,109,112,114,127,128,129],g2lib_biarc_list:[22,102,103,104,105,109,112,115,127,128,129],g2lib_circl:[22,102,103,104,105,109,112,116,127,128,129],g2lib_clothoid:[22,102,103,104,105,109,112,117,127,128,129],g2lib_clothoid_list:[22,102,103,104,105,109,112,119,127,128,129],g2lib_compatibility_mod:[112,113,117,121,126],g2lib_do_not_use_cxx11:110,g2lib_intersect:[32,53,67,73,91,94,131,139,179],g2lib_lin:[22,102,103,104,105,109,112,122,127,128,129],g2lib_polylin:[22,102,103,104,105,109,112,123,127,128,129],g2lib_use_cxx11:[32,101,103,105,109,110,111,127,129,131,138],g2libclass:[18,131],g2problem3arc:178,g2solve2arc:[41,100,108,119,131,138],g2solve2arcclass:[18,131],g2solve3arc:[41,100,108,109,119,131,138],g2solve3arcclass:[18,131],g2solveclc:[41,100,108,109,119,131,138],g2solveclcclass:[18,131],g_1:[108,119],g_2:[108,119],gamma:[107,125],gcc:[103,108,109,125],geeksforgeek:128,gener:[0,6,7,105,106,128],generalizedfresnelc:[47,100,108,120,125,131,138],geom2d:83,geometr:130,geomprimit:111,get:[5,6,7,11,12,103,109,115,119,129,148,149,150,151,152,154,155,156,173,174,176,177,180],get_id:[103,109,115,119,123,129],getat:[5,12,103,109,115,119],getcircl:[0,148,173],getdata:[148,173,174],getdeltakappa:[12,109,119],getdeltatheta:[12,109,119],getlin:109,getpar:[0,151,176,177],getrealroot:125,gets0:[9,10,11,119],gets1:[9,10,11,119],getseg:[16,123,129],getsk:[12,109,119],getsm:[10,11,119],getstk:[5,12,103,109,115,119,152,177],getxi:[5,12,103,109,115,119,149,152,174,177],gfun:[102,114],git:189,github:[0,189],given:[0,2,3,4,5,6,7,12,15,16,81,96,128,149,150,152,156,174,175,177,182],gmail:[98,125],going:105,good:[109,189],gradient:[13,108,119,178],graph:106,graphic:130,guess:[11,13,81,96,107,108,119,125,126,152,153,177,178],guid:[98,125],guigu:130,guiguedevillers03:130,guozhao:4,hallei:102,handl:[148,149,150,151,152,153,154,155,156,157,173,174,175,176,177,178,180,181,182,184],has:12,have:[125,189],header:189,hemit:4,hermit:[0,6,7,11,189,190],hessian_approxim:178,hessian_const:178,hhfile:[53,131],hidden:[178,180,184],hierarchi:189,hold:[173,174,177,182],holder:189,homepag:[0,188,189],howev:189,http:[0,128,130,151,176,188,189,190],hxx:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,21,22,32,69,71,78,80,88,92,93,100,110,133,134,139],hxxfile:[53,131],hypot:[101,102,104,105,107,108,109,121,125,126,128,129,130],i_begin:[103,109,129],i_end:[103,109,129],ibegin:[5,12,103,109,115,119,152,177],ic0:129,ic1:129,icas:[101,111],icod:[112,184],icurv:[3,4,5,6,7,12,15,16,17,103,104,105,109,112,114,115,116,117,119,122,123,124,129,152,177],icurve1:109,icurve_begin:[12,109,119],icurve_end:[12,109,119],identifi:1,idx1:178,idx2:178,idx:[5,12,103,109,115,119,123,129,149,174,177,182],iend:[5,12,103,109,115,119,152,177],ifdef:[101,103,104,105,107,108,109,110,111,112,113,117,121,125,126,127,128,129,130],iff:[151,176],iflag:[148,149,150,151,152,154,155,156,177,180],ifndef:[103,105,107,108,109,110,115,117,119,120,123,125,126,127,128,129,130],ifun:[2,111],ignor:[103,108,109,125,126,127],ignoredarg:[148,149,150,151,152,155,156,157],ilist00:102,ilist01:102,ilist10:102,ilist11:102,ilist1:103,ilist:[3,4,5,6,7,12,15,16,73,88,94,102,103,104,105,109,112,114,115,116,117,119,122,123,127,129],illustr:[98,125],imag:178,implement:[0,2,130],impli:189,improv:105,inc:179,incident:189,includ:[101,102,103,104,105,106,107,108,109,110,114,115,116,117,119,122,125,126,127,128,129,130,139,189],index:[2,3,4,5,7,12,15,16,103,109,156,178,182],indirect:189,industri:183,industrial:[0,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,188,189],infin:[0,7,101,103,105,109,151,176],infinit:109,info:[0,3,4,5,6,7,12,13,15,16,17,112,114,115,116,117,119,120,122,123,124,125,148,149,150,151,152,154,155,156,157,174,177,178,180,184],inform:[1,130,148,150,151,154,155,156,180],informazion:[101,110,111,113],infti:7,ingegneria:[0,101,102,103,104,105,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,188,189],inherit:[131,138,185,186],init:[5,12,16,103,109,115,119,123,129],init_promote_map:127,initfil:[106,118],initi:[0,2,3,4,5,6,7,11,12,15,16,75,90,109,129,148,149,150,151,152,153,154,155,156,173,174,175,176,177,178,180,181],inizial:125,inlin:[1,2,3,4,5,6,7,9,10,11,12,13,14,15,16,17,69,71,78,80,88,92,93,108,111,112,121,126,130],input:[59,109,125,148,149,150,151,155,157,172,173,174,175,176,181,183,184],insert:101,insid:[17,71,72,105,107,125],instal:179,instanc:[148,149,150,151,152,155,156,157,173,174,175,176,177,178,180,181,182,184],instead:[3,4,5,6,7,12,15,16,73,88,94],int_0:[7,59,63,64,98,153,178],int_typ:[1,3,4,5,6,7,12,13,15,16,17,32,47,70,72,74,81,83,90,96,100,101,102,103,104,105,107,108,109,110,111,112,114,115,116,117,119,120,121,122,123,124,125,126,128,129,130,131,138],intc:[63,64,120,125],integr:[7,11,59,63,64,98,120,125,153,178],integralcurvature2:[7,11,105,117,119],integraljerk2:[7,11,105,117,119],integralsnap2:[7,11,105,117,119],interb:[148,149,150,151,152,154,155,156,180],interfac:189,interior:178,intermedi:6,intern:[152,177],interpol:[0,11,119,148,151,153,173,176,178,189,190],interrupt:189,intersect:[2,3,4,5,6,7,12,15,16,49,67,73,80,88,90,91,100,101,102,103,104,105,109,111,112,114,115,116,117,119,122,123,127,128,129,130,131,138,148,149,150,151,152,154,155,156,172,176,180,183,189],intersect_iso:[3,4,5,6,7,12,15,16,49,100,10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_sae_d:[3,4,5,6,7,12,15,16,112,120,125],nor_sae_dd:[3,4,5,6,7,12,15,16,112,120,125],nor_sae_ddd:[3,4,5,6,7,12,15,16,112,120,125],nor_x_iso:[120,125],nor_x_iso_d:[120,125],nor_x_iso_dd:[120,125],nor_x_iso_ddd:[120,125],nor_x_sa:[120,125],nor_x_sae_d:[120,125],nor_x_sae_dd:[120,125],nor_x_sae_ddd:[120,125],nor_y_iso:[120,125],nor_y_iso_d:[120,125],nor_y_iso_dd:[120,125],nor_y_iso_ddd:[120,125],nor_y_sa:[120,125],nor_y_sae_d:[120,125],nor_y_sae_dd:[120,125],nor_y_sae_ddd:[120,125],normal:[0,3,4,5,6,7,12,15,16,125,148,149,150,151,152,154,155,156,173,174,176,177,180],note:[0,9,10,189,190],noth:108,notic:189,nout:105,now:107,nozero:106,npt:[0,7,13,16,96,105,108,117,119,121,123,126,129,148,149,150,151,152,173,174,175,176,177],ns0:129,ns1:129,nseg:[5,12,103,109,115,119,129,149,174],nsol:126,nullptr:[101,120],numbber:12,number:[0,5,6,7,9,10,11,12,63,70,74,81,90,92,107,130,148,149,150,151,152,173,174,175,176,177,180],numconstraint:[13,108,119],numer:[148,149,150,151,152,154,155,156,180],numeric_limit:[101,102,103,105,109,126,127,144],numpnt:[13,119],numpoint:[16,123],numroot:126,numseg:[5,12,16,109,115,119,123,129,149,152,174,177],numterm:125,numtheta:[13,108,119],nurb:[0,6,148,150,155,173,175,181],nx_begin:[112,113],nx_begin_iso:[3,4,5,6,7,12,15,16,104,112,113,114,115,116,117,119,122,128],nx_begin_sa:[3,4,5,6,7,12,15,16,112,113],nx_d:[3,4,5,6,7,12,15,16,112,120,125,126],nx_dd:[3,4,5,6,7,12,15,16,112,120,125,126],nx_ddd:[3,4,5,6,7,12,15,16,112,120,125,126],nx_end:[112,113],nx_end_iso:[3,4,5,6,7,12,15,16,112,113,114,115,119,122],nx_end_sa:[3,4,5,6,7,12,15,16,112,113],nx_iso:[3,4,5,6,7,12,15,16,112,126],nx_iso_d:[3,4,5,6,7,12,15,16,112,126],nx_iso_dd:[3,4,5,6,7,12,15,16,112,126],nx_iso_ddd:[3,4,5,6,7,12,15,16,112,126],nx_sae:[3,4,5,6,7,12,15,16,112],nx_sae_d:[3,4,5,6,7,12,15,16,112],nx_sae_dd:[3,4,5,6,7,12,15,16,112],nx_sae_ddd:[3,4,5,6,7,12,15,16,112],ny_begin:[112,113],ny_begin_iso:[3,4,5,6,7,12,15,16,104,112,113,114,115,116,117,119,122,128],ny_begin_sa:[3,4,5,6,7,12,15,16,112,113],ny_d:[3,4,5,6,7,12,15,16,112,120,125,126],ny_dd:[3,4,5,6,7,12,15,16,112,120,125,126],ny_ddd:[3,4,5,6,7,12,15,16,112,120,125,126],ny_end:[112,113],ny_end_iso:[3,4,5,6,7,12,15,16,112,113,114,115,119,122],ny_end_sa:[3,4,5,6,7,12,15,16,112,113],ny_iso:[3,4,5,6,7,12,15,16,112,126],ny_iso_d:[3,4,5,6,7,12,15,16,112,126],ny_iso_dd:[3,4,5,6,7,12,15,16,112,126],ny_iso_ddd:[3,4,5,6,7,12,15,16,112,126],ny_sa:[3,4,5,6,7,12,15,16,112],ny_sae_d:[3,4,5,6,7,12,15,16,112],ny_sae_dd:[3,4,5,6,7,12,15,16,112],ny_sae_ddd:[3,4,5,6,7,12,15,16,112],obj1:127,obj2:127,obj:[6,116,148,149,150,151,152,153,154,155,156,157,177,178,180,182,184],obj_handl:[148,149,150,151,152,154,155,156,157,176,177,180,184],object:[0,2,13,108,119,148,149,150,151,152,154,155,156,157,173,174,175,176,177,178,180,181,182,184],objecthandl:[173,174,175,176,177,178,180,181,182,184],obtain:[149,174],oco:114,octave_vers:178,odd:[152,156,177,182],off:[0,3,4,5,6,7,11,12,15,16,102,103,104,105,108,109,112,114,115,116,117,119,120,122,123,125,126,127,128,129,148,149,150,151,152,154,155,156,174,176,177,180],offs1:[115,127,148,149,150,151,152,154,155,156,180],offs2:[115,127],offs_b:[4,102,114],offs_c1:[67,73,80,88,112],offs_c2:[67,73,80,88,112],offs_c:[3,4,5,6,7,12,15,16,103,104,105,109,112,115,117,119],offs_cl:[16,103,109,123],offs_l:[15,122],offs_obj:[5,6,12,115,116,119],offs_pl:[16,123],offset:[0,3,4,5,6,7,8,11,12,15,16,67,73,80,88,105,106,108,117,118,125,148,149,150,151,152,154,155,156,174,176,177,180],ofstream:118,ok0:107,ok1:[103,107,109],okm:107,okular:106,oldterm:125,omega:[96,102,103,104,108,121,125,126],omega_l:126,omega_r:126,onc:110,one:[0,3,4,5,6,7,10,11,12,15,16,105,109,126,152,177],one_degre:[105,125],onli:[109,153,178,183],onseg:128,onto:0,open:[0,106],openfil:[106,118],oper:[1,4,5,6,7,11,12,13,15,16,17,24,25,26,27,30,31,33,50,51,52,100,102,103,104,105,108,109,111,112,114,115,116,117,119,122,123,124,128,129,130,131,138],optim:[7,151,176,179],optimalitytoler:178,optimized_sampl:[151,176],optimized_sample_intern:105,optimized_sample_internal_iso:[105,117],optimized_sample_iso:[7,105,117],optimized_sample_sa:[7,117],optimopt:178,optimset:178,optin:[148,173],option:[0,148,149,150,151,152,154,155,156,178,180],order:[59,99,128,178],org:[0,128,130,151,176,189,190],orgin:0,orient:[0,83,128,130,148,149,150,151,152,154,155,156,173,175,176,180,181],orient_2d:130,origgin:180,origin:[3,4,5,6,7,12,15,16,90,148,149,150,151,152,154,155,156,175,176,180,181],origin_at:[117,120,125],orthogon:[3,4,5,6,7,12,15,16,112,115,149,174],oscul:105,ostream_typ:[1,2,3,4,5,6,7,10,11,12,13,15,16,17,24,25,26,27,30,31,32,33,50,51,52,100,101,102,103,104,105,108,109,110,111,112,114,115,116,117,119,120,122,123,124,125,128,129,130,131,138],ostyp:189,osx:189,other:[16,130,189],otherwis:[5,7,12,130,149,174,189],othogon:[3,4,5,6,7,12,15,16],out:[2,3,4,5,6,7,11,12,14,15,16,70,73,74,81,88,90,94,96,98,105,120,125,129,189],outout:[174,177],output:[125,148,149,150,151,152,154,155,156,157,172,173,174,175,176,177,178,179,180,181,182,183,184],outsid:17,outsiz:72,overlap:[2,17,117,124,130,157,172,183,184],overrid:[4,5,6,7,12,15,16,114,115,116,117,119,122,123],owner:189,p1p2:[15,122],p1q1:128,p2q2:128,packag:179,page:130,pair:[2,111,112,127,133],pairptrbbox:[2,101,111],paolo:[101,110,111,113],paper:130,parabola:105,param:[7,15,16],paramet:[0,1,2,3,4,5,6,7,9,10,11,12,14,15,16,59,63,64,67,70,71,72,73,74,75,80,81,83,88,89,90,91,94,96,98,105,130,148,149,150,151,152,154,155,156,175,176,178,180],parameter2:90,parameter:[3,4,5,6,7,11,12,15,16],parametr:[5,12,90],parametrix:[3,4,5,6,7,12,15,16],paramnurb:[6,15,104,116,122,128],paramt:16,parent:[33,34,35,36,37,38,39,40,41,42,43,44,45,46],part:125,particular:[0,189],pass:[0,4,5,6,12,71,75,89,149,150,153,155,174,175,178,181],past:12,path:[21,83,106],pbbox:[101,111],pc1:117,pc2:117,pclot:106,pdf:[0,106,189,190],pdffile:106,pen:106,penna:[8,106,118],per:108,perform:[7,130],permit:189,phi0:[107,125],phi1:[107,125],phi:[108,119,125],phia:107,phib:107,piano:104,piccolo:[105,125],piecewis:[9,10,11,12,153,178],pinfin:[7,117,120,125],piu:[105,125],pivot:126,pkg:179,pl1:127,pl2:127,placement:[8,106,118],planar:4,plist1:[115,119],plist2:[115,119],plot2:[157,184],plot:[0,7,148,149,150,151,152,154,155,156,157,173,174,175,176,177,180,181,182,184],plot_off:[149,151,152,174,176,177],plotangl:[148,149,151,152,173,174,176,177],plotbbox:[148,149,150,151,152,154,155,156,180],plotcurvatur:[148,149,151,152,173,174,176,177],plotnorm:[148,149,151,152,173,174,176,177],plotpolygon:[150,175],plottbox:[148,149,150,151,152,154,155,156,180],plottriangl:[148,149,150,151,152,154,155,156,180],plu:[7,117,120,125],poijt:96,poinst:[149,174],point:[0,1,2,3,4,5,6,7,9,10,11,12,15,16,71,72,75,81,83,89,96,102,103,105,109,126,128,130,148,149,150,151,152,153,154,155,156,157,173,174,175,176,177,178,180,181,182,184,189,190],pointer:[148,149,150,151,152,154,155,156,180],pointinsidecircl:[43,100,121,131,138],poject:[151,176],poli:[6,15,104,116,122,128],polilin:16,polygon:[6,16,123,129,150,156,175,182],polylin:[0,3,5,12,21,32,53,100,103,109,110,115,119,122,126,127,131,138,139,146,152,154,171,177,179,185,186,187,189],polylineclass:[18,131,158,185],polylinemexwrapp:[179,182],polynomialroot:[47,48,125,126,179,189],pop_back:[103,109],populate_toolbox:0,pos:101,posbox:101,posit:[0,1,3,4,5,6,7,11,12,15,16,105,149,151,152,174,176,177],possibil:6,possibl:[149,174,189],postion:[149,174],power2:[108,126],power3:[108,126],power4:108,pp1:180,pp2:180,pp3:180,ppair:127,ppl1:123,ppl2:123,pplot_offslot:[151,176],practition:[98,125],pragma:[103,108,109,110,125,126,127],precis:130,precomput:119,predic:130,prescrib:0,present:[152,177],pretti:[1,2,3,4,5,6,7,12,15,16,69,79,82],previou:14,print:[0,1,2,3,4,5,6,7,12,15,16,69,79,82,101,104,105,108,109,111,125,127,128,129,130,148,150,151,154,155,156,180],privat:[111,117,118,119,123,178,184],prj:0,problem:[0,6,7,9,10,11,12,108,119,125,153,178,189,190],procur:189,profit:189,program:[23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,98,139,159,160,161,162,163,164,165,166,167,168,169,170,187],project:[0,3,4,5,6,7,12,15,16,75,89,112,115,149,151,152,174,176,177,189,190],projectpointoncircl:[48,100,105,121,126,131,138],projectpointoncirclearc:[48,100,104,121,126,131,138],promemoria:111,promote_map:127,properti:[178,180,184],propos:0,protect:[112,180],provid:[2,189],pseudo:14,ptr1:[115,117,119,123],ptr2:[115,117,119,123],ptraabb:[2,101,111],ptrbbox:[1,2,101,111,115,117,119,123],punto:[105,125],purpos:[98,189],push:[103,108,109,125,149,174],push_back:[5,12,16,101,102,103,104,105,109,115,119,122,123,129,149,152,174,177,178],push_back_g1:[5,12,103,109,115,119,152,174,177,178],put:[99,102,108,109,129],q_x:[3,4,5,6,7,12,15,16],q_y:[3,4,5,6,7,12,15,16],qp_x:128,qp_y:128,qquad:[9,10,59,63,64,98],qqx:107,qqy:107,qsolv:126,quad:[9,10,11],quadrat:[74,126,179],quarticrootsflock:[179,189],quasi:107,queri:2,radiant:[7,153,178],radic:125,rai:[6,116],rake:189,rang:[7,12,99,102,103,108,109,129,152,177],rangesymm:[48,100,102,108,121,126,131,138],rank:1,ration:125,raw:12,read:[12,152,177],real:125,real_root0:126,real_root1:126,real_typ:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,32,47,54,55,58,62,65,66,67,68,70,71,72,73,74,75,80,81,83,84,85,86,87,88,89,90,92,95,96,99,100,101,102,103,104,105,106,107,108,109,110,111,112,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,133,138,141,142,143,144,145,147],realloc:108,realvalu:[108,119],reccomend:[153,178],recomput:[12,105],recurr:125,recurs:189,red:[0,148,149,150,151,152,154,155,156,173,174,177,180,182],redistribut:189,reduc:2,ref:[148,149,150,151,152,154,155,156,157,173,174,175,176,177,180,181,182,184],refer:[11,108,148,149,150,151,152,153,155,156,157,173,174,175,176,177,178,181,182,184],refin:[103,105,109],relationship:[131,138,185,186],releas:[0,189],remov:99,repositori:189,represant:[148,173],represent:[150,155,175,181],reproduc:189,res1:[102,109],res:[102,104,109,112,119,125,126,152,173,176,177,180],reserv:[5,12,102,103,104,105,109,115,119,129,149,152,174,177,178,189],reset:101,resetlastinterv:[103,109,115,119,123,129],resiz:[103,109,119],resnorm:178,respect:[0,3,4,5,6,7,12,15,16,151,155,176,181],retain:189,revers:[0,3,4,5,6,7,11,12,15,16,102,103,104,107,109,112,114,115,116,117,119,120,122,123,125,128,129,148,149,150,151,152,154,155,156,180],rho:107,rhoi:107,rhox:107,rhs:[1,14,111],ricostruzion:108,riferimento:108,right:[3,4,5,6,7,12,15,16,54,58,59,63,64,65,83,85,87,95,107,189],risolvo:105,rla:125,rlb:125,rlc:125,rld:125,robust:[0,130,189,190],root:105,rotat:[0,3,4,5,6,7,11,12,15,16,17,83,96,103,104,109,112,114,115,116,117,119,120,122,123,124,125,128,130,148,149,150,151,152,154,155,156,157,180,184],rotinv:108,rough:11,round:[119,125,126],routin:[12,100,130],rovescia:108,rozza:[105,125],rq_x:128,rq_y:128,rst:[173,174,175,176,177,178,180,181,182,184],rubi:0,run:[0,183,189],s12:126,s1_max:105,s1_min:105,s2_max:105,s2_min:105,s_0:[6,7,153,178],s_1:[153,178],s_begin:[3,4,5,6,7,12,15,16,102,103,104,105,109,112,114,115,116,117,119,122,123,129,152,177],s_end:[3,4,5,6,7,12,15,16,102,103,104,105,109,112,114,115,116,117,119,122,123,129,152,177],s_k:[153,178],s_n:[153,178],s_off:[15,122,128],s_origin:[120,125],s_to_index:[152,156,177,182],sa1:126,sa2:126,sae:[3,4,5,6,7,12,15,16,148,149,150,151,152,154,155,156,176,177,180],sampl:[7,148,149,150,151,152,173,174,175,176,177],save:[10,11,12,108,109,119,149,152,174,177],save_seg:109,saveclothoid:[152,177],savesampl:[152,177],sc1:104,sc2:104,scalato:125,scale:[0,3,4,5,6,7,12,15,16,17,102,103,104,105,108,109,112,114,115,116,117,119,122,123,124,125,129,148,149,150,151,152,154,155,156,157,175,180,184],scienc:[0,153,178,188,189,190],scientif:[0,7,151,176,189,190],scienza:[101,110,111,113],scl:102,script:183,sdk:125,search:[2,12,103,109,115,119,123,129],searchinterv:[103,109,129],second:[0,3,4,5,6,7,9,10,11,12,15,16,67,70,72,73,74,80,83,88,90,91,94,101,102,103,105,109,111,129,148,149,150,151,152,154,155,156,172,173,174,177,180,182,183],secondari:129,sedgewick:83,see:[0,128],seek:2,segment:[0,5,6,7,10,11,12,15,16,83,109,128,129,130,148,149,150,151,152,153,154,155,156,174,177,178,180,181,182],segment_length:[5,12,103,109,115,119],segment_length_iso:[5,12,103,109,115,119],segment_length_sa:[12,119],segmenti:109,segmento:[109,129],select:2,self:[148,149,150,151,152,153,154,155,156,157,173,174,175,176,177,178,180,181,182,184],separ:0,seri:[12,125],servic:189,set:[4,12,105,149,150,152,174,175,177,178],setaccess:[178,180,184],setmaxit:[9,10,11,108,119],setp1:[13,119],setp2:[13,119],setp3:[13,119],setp4:[13,119],setp5:[13,119],setp6:[13,119],setp7:[13,119],setp8:[13,119],setp9:[13,119],settoler:[9,10,11,108,119],setup:[0,108,153,178],setw:111,sever:130,sfactor:[103,109,129],sflex:[105,107,125],shall:189,shared_ptr:[101,103,105,109,110,111,129],showax:[8,106,118],siam:[0,7,151,176,189,190],sign:[15,83],simpl:7,sin:[6,7,54,55,59,63,64,65,68,71,89,90,98,102,104,105,107,108,114,116,120,121,122,125,126,128,130,173,176],sinc:[48,100,102,104,121,125,126,131,138],sinc_d:[48,100,121,126,131,138],sinc_dd:[48,100,121,126,131,138],sinc_ddd:[48,100,121,126,131,138],sine:[63,64,125],singl:[0,5],singular:[14,121,126],sintheta0:[6,116],sinu:125,sistema:105,sivakanth:[98,125],size:[3,4,5,6,7,12,15,16,101,102,103,104,105,106,109,115,119,123,129,148,149,150,151,152,154,155,156,180],size_t:[101,103,104,105,108,109,115,117,119,123,129],skip:109,slast:129,sm_guess:[108,119],small:[109,178],smax:[0,148,149,150,151,152,154,155,156,180,181],smin:[0,148,149,150,151,152,154,155,156,180,181],snap:11,softwar:189,solo:125,solut:[0,9,10,11,14,70,74,90,102,108,125,126,153,178],soluzion:108,solv:[6,7,9,10,11,12,14,70,74,108,119,121,125,126,153,178],solve2x2:[43,100,108,121,126,131,138],solve2x2class:[18,131],solvelinearquadrat:[48,100,121,126,131,138],solvelinearquadratic2:[48,100,121,126,131,138],solvenlsyscirclecircl:126,solver:[108,153,178],some:[0,148,149,150,151,152,154,155,156,180],someth:[105,108],son:[0,189,190],sono:109,soon:0,sourc:[130,189],spars:178,spatial:2,special:[128,189],specifyconstraintgradi:178,specifyobjectivegradi:178,spline:[0,4,5,11,81,153,178,190],split:[6,7,105,107,125],split_at_flex:[107,120,125],spljne:13,sqp:178,sqrt:[107,125,126,127,145,147],sqrtmachepsi:[48,100,121,126,131,138],squar:[11,153,178],sr1:178,src:179,src_mex:[0,179],ss0:[6,16,104,109,116,123,129],ss1:[6,16,103,104,105,109,116,117,119,123,126,129],ss2:[103,104,105,109,117,119,126,129],ssf:107,sss0:129,sss1:129,sss:[105,107],stabl:125,standard:[3,4,5,6,7,12,15,16,107,108,119],start:[0,6,7,71,75,89],stat:178,static_cast:[102,103,104,105,109,128,129],statist:179,std:[3,4,5,6,7,8,12,15,16,101,102,103,104,105,106,107,108,109,110,111,112,114,115,116,117,118,119,122,123,125,126,127,128,129,130,133,134,136,137],step:[7,105,106,148,149,151,152,173,174,176,177],step_found:108,stesso:[109,129],store:[0,2,3,4,5,6,7,12,14,15,16,73,88,94,148,149,150,151,152,154,155,156,180,182],str:[173,174,175,176,177,181,182,184],straight:[0,15,16,150,175],stream:[1,2,3,4,5,6,7,10,11,12,13,15,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G2lib_intersect.cc","File Line.cc","File PolyLine.cc","File Triangle2D.cc","File Hierarchy","Function G2lib::Sinc_DD","Function G2lib::Sinc","Function G2lib::operator<<(ostream_type&, PolyLine const&)","Function G2lib::operator<<(ostream_type&, Triangle2D const&)","Function G2lib::Atanc_DDD","Function G2lib::FresnelCS(int_type, real_type, real_type *, real_type *)","Function G2lib::operator<<(ostream_type&, ClothoidList const&)","Function G2lib::operator<<(ostream_type&, ClothoidSplineG2 const&)","Function G2lib::Atanc_D","Function G2lib::GeneralizedFresnelCS(int_type, real_type, real_type, real_type, real_type *, real_type *)","Function G2lib::GeneralizedFresnelCS(real_type, real_type, real_type, real_type&, real_type&)","Function G2lib::Sinc_DDD","Function G2lib::Cosc_D","Function G2lib::collision_ISO","Function G2lib::Sinc_D","Function G2lib::operator<<(ostream_type&, BBox const&)","Function G2lib::solveLinearQuadratic2","Function G2lib::pointInsideCircle","Function 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4,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,108,109,110,111,113,114,115,116,117,118,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,192],clothoid_list:[128,148],clothoidasyplot:[8,23,34,55,112,133,141,191],clothoidcurv:[3,6,8,9,10,11,12,15,16,29,41,102,107,108,109,110,111,118,119,120,121,124,125,129,131,133,140,154,156,158,173,179,180,184,187,188,189,191],clothoidcurveclass:[18,133,160,187],clothoidcurvemexwrapp:[178,181],clothoiddata:[109,119,122,127],clothoiddist:[34,55,133,141,181],clothoidg2:[34,55,63,133,141,181],clothoidlib:108,clothoidlist:[3,9,10,11,13,16,23,34,37,55,102,107,112,117,119,125,129,131,133,140,141,156,158,173,180,181,184,187,188,189,191],clothoidlistclass:[18,133,160,187],clothoidlistmexwrapp:[179,181],clothoidoffset:108,clothoidpoint:108,clothoids_dot_hh:[34,112,133,140],clothoidsfil:[55,133],clothoidsplineg2:[32,43,102,110,121,133,140,173,187,188,189,191],clothoidsplineg2class:[18,133,160,187],clothoidsplineg2mexwrapp:[180,181],clotoidi:110,clousur:12,cmake:191,cmath:[28,29,34,49,106,107,112,127],cmd:181,cmdcomp:108,cmdopen:108,code:[175,176,177,178,179,182,183,184,186,191],coef:177,coeff:110,colinear:130,collect:[2,16,75,90,96],collid:[1,2,150,151,152,153,154,156,157,158,182],collinear:130,collis:[1,2,3,4,5,6,7,12,15,16,51,102,103,105,106,107,111,113,114,116,117,118,119,121,124,125,129,130,131,133,140,150,151,152,153,154,156,157,158,182],collision_fun:[2,113],collision_iso:[3,4,5,6,7,12,15,16,51,102,105,106,107,111,114,116,117,118,119,121,124,125,129,130,133,140],collision_list:[125,131],collision_sa:[3,4,5,6,7,12,15,16,36,102,114,133,140],color:[0,150,151,152,153,154,156,157,158,159,175,176,177,178,179,182,183,184,186],com:[0,100,127,191],comand:0,combin:[9,10],command:0,compar:7,compil:[0,112,129,181,191],compileclothoidslib:[0,185,191],compilefil:[108,120],compileoctav:[173,187,189],compiut:[150,151,152,153,154,156,157,158,182],complex:2,complexroot:128,compon:[3,4,5,6,7,12,15,16],compos:[9,10,11,12,150,155,175,180],comput:[0,2,3,4,5,6,7,11,12,13,15,16,61,65,66,80,95,98,100,102,107,110,116,122,127,128,132,150,151,152,153,154,155,156,157,158,176,178,180,182,191,192],compute_deriv:[122,127],comunqu:110,con:[155,180],condit:[155,180,191],connect:[0,5,12],consecut:[98,151,155,176,180],consecutivi:111,consequenti:191,consid:109,consist:[128,154,179],consol:[150,152,153,156,157,158,182,191],const_iter:[103,105,107,111,113,131],constant:0,constraint:[13,110,121,180],constrainttoler:180,construct:[1,2,4,5,6,7,9,10,11,15,98,155,180],constructor:[104,105,106,107,114,127,128,129,130,131,175],constuctor:191,contain:[0,5,12,132,150,151,152,153,154,156,157,158,182,184],content:2,continu:[0,12,111,128,155,180,191,192],contract:191,contributor:191,controllar:127,convenct:[154,179],converg:[107,109,110,111,127],convers:[105,110,111],convert:[104,105,106,107,130,131],coodin:[0,3,4,5,6,7,12,15,16],cooordin:7,coordin:[0,1,2,3,4,5,6,7,11,12,15,16,72,73,76,83,98,150,151,152,153,154,156,157,158,159,174,175,176,177,178,179,182,183,184,185,186],copi:[1,4,5,6,7,12,15,16,105,107,110,111,116,117,118,119,121,124,125,131,150,151,152,153,154,156,157,158,182],copia:111,coplanar:132,copy_n:110,copyright:[103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,191],corrdin:[153,178],correspond:182,cos:[6,7,61,65,66,68,73,86,89,91,92,97,100,104,106,107,109,110,116,118,122,123,124,127,128,130,132,175,178],cosal:106,cosc:[50,102,123,127,128,133,140],cosc_d:[50,102,123,128,133,140],cosc_dd:[50,102,123,128,133,140],cosc_ddd:[50,102,123,128,133,140],cosin:[65,66,127],cosom:106,costheta0:[6,118],costruisco:[106,110],cosu:127,counter:85,counterclock:130,counterclockwis:[17,85,130],cout:[108,112,131],cover:[1,3,4,5,7,12,15,16,150,151,152,153,154,156,157,158,182],crea:111,creat:[2,150,151,152,153,154,157,158,159,175,176,177,178,179,183,184,186],crescent:109,csf:109,cubic:[127,181],cubicsolv:127,currbox:103,curv:[0,2,3,4,5,6,7,11,12,15,16,17,69,75,82,90,93,96,98,109,110,127,150,151,152,153,154,156,157,158,175,177,178,179,182,183,184],curvatir:7,curvatur:[0,3,4,5,6,7,9,10,11,12,15,16,73,77,91,92,104,111,114,116,118,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,182,191,192],curvatureminmax:[7,11,107,110,119,121],curvaturetotalvari:[7,11,107,119,121],curvebas:[150,151,152,153,154,157,158,173,175,176,177,178,179,183,184,187,188,189],curvebaseclass:[160,187],curvetyp:[3,4,5,6,7,12,15,16,18,36,102,114,129,133,140],curvetype_nam:[50,102,104,105,106,107,114,128,129,130,131,133,140],curviliear:[153,178],curvilinar:[151,176],curvilinear:[0,3,4,5,6,7,11,12,15,16,150,151,152,153,154,156,157,158,175,176,178,179,182,183,184],cut:[0,3,4,5,6,7,12,15,16,150,151,152,153,154,156,157,158,182],cutpo:103,cycl:108,cyclic:[155,180],damag:191,dangl:128,data:[3,4,5,6,7,9,10,11,12,15,16,110,111,121,150,151,154,175,176,179,191],date:[100,127],dati:110,dc0:127,dc1:127,dc2:127,ddf:[104,109],deactiv:[150,151,152,153,154,156,157,158,182],debug:[155,180],decemb:132,decrescent:109,defin:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,107,112,127,132,134,135,136,137,138,139,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174,176,179],definit:[141,189],definiton:12,degener:[5,6,17,124,152,177],degli:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],degre:[117,118,119,121,124,125],delet:[103,114,180,181,182,186],dell:[103,112,113,115],delta:[104,127],delta_theta:[4,6,116,118],deltak:[110,121],deltakappa:[12,111,121,154,179],deltatheta:[6,7,11,12,107,110,111,118,119,121,122,154,179],denterm:127,depart:185,deriv:[0,4,5,6,7,11,12,15,16,61,133,140,150,151,152,153,154,155,157,158,178,179,180,182,187,188],derivative_test:180,derivative_test_perturb:180,derivative_test_tol:180,derivatuv:[150,151,152,153,154,156,157,158,182],derivatv:[153,178],describ:[0,7,11,132,153,155,178,180],descript:[0,133,140],descrit:0,desid:11,design:[0,4,191,192],destroi:[2,159,182,186],destruct:182,destructor:129,det:[107,127,128,130],detail:[130,133,140],detect:[1,3,4,5,6,7,12,15,16,119],determin:[154,179],dev:108,devil:132,devit:[3,4,5,6,12,15,16],diagnost:[105,110,111,127,128,129],diff2pi:[110,121],diff:180,differ:[11,12,180],difference_typ:131,dii:[0,190,191],dim:[155,180],dimension:[2,132],dipartimento:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],direct:[0,73,77,91,150,151,152,153,154,156,157,158,182,183,191],directori:[0,35,36,37,38,39,40,41,42,43,44,45,46,47,48,55,133],disabl:95,disc:128,disclaim:191,disp:181,displai:180,displayax:[8,108,120],displaystyl:[7,155,180],dist:180,distanc:[1,2,3,4,5,6,7,12,15,16,77,91,98,103,105,107,109,111,113,114,115,132,150,151,152,153,154,156,157,158,176,178,179,180,182,191,192],distance_iso:[3,4,5,6,7,12,15,16,114,115],distance_sa:[3,4,5,6,7,12,15,16,114,115],distancebysampl:[7,119,153,154,178,179],distancemax:[159,186],distancemin:[159,186],distanza:[109,130],distinct:[155,180],distmax:[17,126,132],distmin:[17,105,107,111,126,132],distribut:191,distseg:132,diverg:[11,109],dk0:110,dk0_sm:110,dk0_thm:110,dk1:110,dk1_sm:110,dk1_thm:110,dk2:[107,110],dk3:[107,110],dk4:107,dk5:107,dk6:107,dk_d:[7,110,119,122,127],dk_l:110,dk_r:110,dkappa:[7,12,108,110,111,119,121,153,154,178,179],dkl:110,dkl_d:110,dkm:110,dkm_sm:110,dkm_thm:110,dkr:110,dkr_d:110,dkur:110,dmax:[11,110,121],dmin:103,document:[0,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,140,175,176,177,178,179,180,181,182,183,184,185,186,187,188,191],doesn:130,doi:[0,153,178,191,192],domega:128,done:[129,181],dot:[8,108,120],doubl:[112,132,134,182],download:[0,191],doxygen_should_skip_thi:[105,107,109,110,111,117,119,121,122,125,127,128,129,130,131,132],draw:108,drawclothoid:[8,108,120],drawlin:[8,108,120],drawrect:[8,108,120],ds0:127,ds1:127,ds2:127,dsm2:110,dsm:110,dsmsm:110,dss:107,dst1:[104,107,111,131],dst:[3,4,5,6,7,12,15,16,103,104,105,106,107,109,111,114,116,117,118,119,121,123,124,125,130,131,150,151,152,153,154,156,157,158,178,179,182,186],dt2:127,dth0:104,dth1:104,dth:[104,110,127],dtheta:[106,109,122,127,179],dx1:[128,132],dx2:128,dxa:[104,106],dxb:[104,106],dxc:106,dy1:[128,132],dy2:128,dya:[104,106],dyb:[104,106],dyc:106,dylib:191,each:[3,4,5,6,7,12,15,16,75,90,96,98,132],easi:0,ebertolazzi:[0,191],effici:2,elaps:180,element:111,ell:[109,127],els:[103,104,105,106,107,108,109,110,111,112,113,114,123,124,127,128,129,130,131,132,175,176,177,178,179,180,182,184],elseif:[176,179,181],email:[0,100,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],empti:[0,2,4,5,6,7,9,10,12,103,105,108,111,113,131,152,157,177,183],enabl:80,end:[7,9,10,11,103,104,105,107,111,113,125,131,155,175,176,177,178,179,180,181,182,183,184,185,186],endif:[103,105,106,107,109,110,111,112,113,114,115,117,119,121,122,123,125,127,128,129,130,131,132],endl:108,endpoint:[9,10,11],endrst:[175,176,177,178,179,180,182,183,184,186],energi:4,engin:185,enrico:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,185,190,191],entrambi:109,enumer:[13,24],eof:[105,106,107,109,110,111,127,128,129,130,131],eps10:127,eps1:[106,107],eps2:[106,107],eps:127,epsi:[12,104,109,111,121,123,128,130],epsilon:[104,128,146],equat:[72,76],eras:[103,105,111,131],err1:111,err2:111,err:131,error:[111,150,151,152,153,154,156,157,158,175,176,179,180,182,185],espilon:146,estim:[12,107,154,179],estremi:109,eval:[0,3,4,5,6,7,11,12,15,16,104,105,106,107,109,110,111,114,115,116,117,118,119,121,122,124,125,127,128,130,150,151,152,153,154,156,157,158,177,178,181,182],eval_d:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_dae_dd:122,eval_dd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_ddd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_iso:[3,4,5,6,7,11,12,15,16,104,105,106,107,110,111,114,115,116,117,119,121,122,124,125,127,128,130,131],eval_iso_d:[3,4,5,6,7,11,12,15,16,104,105,107,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_iso_dd:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_iso_ddd:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_sa:[3,4,5,6,7,12,15,16,114,115,122],eval_sae_d:[3,4,5,6,7,12,15,16,114,115,122],eval_sae_dd:[3,4,5,6,7,12,15,16,114,115],eval_sae_ddd:[3,4,5,6,7,12,15,16,114,115,122],evala:[110,121],evalf:[110,121],evalfj:[110,121],evalg:[110,121],evalu:[3,4,5,6,7,12,15,16,104,105,109,110,111,114,115,116,117,118,119,121,122,127,150,151,152,153,154,156,157,158,175,176,178,179,182,191],evaluate_iso:[3,4,5,6,7,12,15,16,105,111,114,115,117,121],evaluate_sa:[3,4,5,6,7,12,15,16,114,115],evalxyalarg:127,evalxyasmal:127,evalxyazero:127,even:[154,158,179,184,191],event:191,everi:[151,154,176,179],exampl:[0,100],exchang:2,exemplari:191,exist:[4,6,7,9,10,12,180],exitflag:180,expans:127,expect:[176,179],explicit:[4,5,6,7,12,15,16,116,117,118,119,121,124,125],export_rubi:[12,111,121,154,179],export_t:[12,111,121,154,179],express:191,extend:0,extern:[114,123],extrema:[155,180],f_j:110,facealpha:[150,151,152,153,154,156,157,158,182],fact:[0,14,127],factor:[0,3,4,5,6,7,12,14,15,16,110,123,128,150,151,152,153,154,156,157,158,159,177,182,186],faculti:[0,190,191],fail:[9,10,11,12,14,104,108,111,154,175,179,180],fair:4,fall:130,fals:[2,4,12,14,104,105,106,107,109,110,111,113,117,119,121,122,123,125,127,128,129,130,131,132,180],fast:132,fclose:[176,179],feval:182,field:[154,179],file:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,19,20,21,22,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,134,135,136,137,138,139,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174,191,192],fileexchag:85,filenam:[8,108,120,151,154,176,179],fill:[108,110,182,186],fill_n:110,find:[0,3,4,5,6,7,12,15,16,104,108,130,151,153,154,176,178,179],find_coord1:[151,154,176,179],find_coord:[150,151,152,153,154,156,157,158,175,182],findat:[5,12,16,105,111,117,121,125,131],findst1:[5,12,105,111,117,121,176,179],findst:[105,111,114,175,182],findst_iso:[3,4,5,6,7,12,15,16,105,111,114],findst_sa:[3,4,5,6,7,12,15,16,114],finit:180,finitedifferencetyp:180,first:[0,3,4,5,6,7,9,10,11,12,15,16,69,72,74,75,76,82,85,90,92,93,96,103,104,105,107,111,113,127,131,150,151,152,153,154,155,156,157,158,174,175,176,179,180,182,184,185],fit:[0,4,11,12,192],fix:[9,10,11,153,178],flag:12,flat:85,flex:[107,109,127],floor:[106,107,127],flush:112,fmincon:180,fmod:[111,128],fmt1:[0,150,151,154,158,175,176,179,184],fmt2:[0,150,151,154,158,175,176,179,184],fmt:[103,106,107,110,111,112,113,127,130,131,132,152,177],fname:[154,179],follow:[0,7,12,130,191],fontsiz:108,foo:113,fopen:[176,179],forc:107,forg:181,forget:191,form:[0,109,151,154,176,179,191],format:[0,107,111,112,150,151,152,154,158,175,176,177,179,184],formula:130,forward:[7,110],found:[3,4,5,6,7,12,14,15,16,104,111,124],four:130,fp_infinit:[110,128],fp_nan:[110,128],fpclassifi:[110,128,129],fprintf:[176,179,181],frac:[56,57,60,61,64,65,66,67,68,70,86,87,88,89,92,97],frame:110,free:[0,190,191],frego:[0,7,11,120,153,155,178,180,190,191,192],fresnel:[7,23,34,55,61,65,66,100,102,110,112,133,141,181,191],fresnelc:[49,102,109,122,127,133,140,181,191],friend:[1,4,5,6,7,11,12,13,15,16,17,113,116,117,118,119,121,124,125,126],from:[0,4,5,6,7,11,12,15,16,73,77,85,91,100,104,105,106,107,108,110,127,130,131,132,150,151,152,153,154,156,157,158,176,177,178,179,182,183],front:[103,105,111,117,121,125,131],fsolv:180,fstream:[34,112],full:[128,191],fun:[105,107,111,131],func:180,g2lib:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,23,24,25,26,27,28,29,30,31,32,33,34,35,36,38,39,40,41,42,43,44,46,47,48,49,51,52,53,54,55,103,104,105,106,107,108,109,110,111,112,113,114,116,117,118,119,120,121,122,124,125,126,127,129,130,131,132,133,140,141,181,191],g2lib_biarc:[24,104,105,106,107,111,114,116,129,130,131],g2lib_biarc_list:[24,104,105,106,107,111,114,117,129,130,131],g2lib_circl:[24,104,105,106,107,111,114,118,129,130,131],g2lib_clothoid:[24,104,105,106,107,111,114,119,129,130,131],g2lib_clothoid_list:[24,104,105,106,107,111,114,121,129,130,131],g2lib_compatibility_mod:[114,115,119,123,128],g2lib_debug:112,g2lib_debug_messag:[34,105,107,109,111,112,129,133,140],g2lib_do_not_use_cxx11:112,g2lib_intersect:[34,55,69,75,93,96,133,141,181],g2lib_lin:[24,104,105,106,107,111,114,124,129,130,131],g2lib_polylin:[24,104,105,106,107,111,114,125,129,130,131],g2lib_use_cxx11:[34,103,105,107,111,112,113,129,131,133,140],g2libclass:[18,133],g2problem3arc:180,g2solve2arc:[43,102,110,121,133,140],g2solve2arcclass:[18,133],g2solve3arc:[43,102,110,111,121,133,140],g2solve3arcclass:[18,133],g2solveclc:[43,102,110,111,121,133,140],g2solveclcclass:[18,133],g_1:[110,121],g_2:[110,121],gamma:[109,127],gcc:[105,110,111,127],geeksforgeek:130,gener:[0,6,7,107,108,130],generalizedfresnelc:[49,102,110,122,127,133,140],geom2d:85,geometr:132,geomprimit:113,get:[5,6,7,11,12,105,111,117,121,131,150,151,152,153,154,156,157,158,175,176,178,179,182],get_id:[105,111,117,121,125,131],getat:[5,12,105,111,117,121],getcircl:[0,150,175],getdata:[150,175,176],getdeltakappa:[12,111,121],getdeltatheta:[12,111,121],getlin:111,getpar:[0,153,178,179],getrealroot:127,gets0:[9,10,11,121],gets1:[9,10,11,121],getseg:[16,125,131],getsk:[12,111,121],getsm:[10,11,121],getstk:[5,12,105,111,117,121,154,179],getxi:[5,12,105,111,117,121,151,154,176,179],gfun:[104,116],git:191,github:[0,191],given:[0,2,3,4,5,6,7,12,15,16,83,98,130,151,152,154,158,176,177,179,184],glib2_tol_angl:[34,105,107,109,111,112,133,140],gmail:[100,127],going:107,good:[111,191],gradient:[13,110,121,180],graph:108,graphic:132,guess:[11,13,83,98,109,110,121,127,128,154,155,179,180],guid:[100,127],guigu:132,guiguedevillers03:132,guozhao:4,hallei:104,handl:[150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,183,184,186],has:12,have:[127,191],header:191,hemit:4,hermit:[0,6,7,11,191,192],hessian_approxim:180,hessian_const:180,hhfile:[55,133],hidden:[180,182,186],hierarchi:191,hold:[175,176,179,184],holder:191,homepag:[0,190,191],howev:191,http:[0,130,132,153,178,190,191,192],hxx:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,23,24,34,71,73,80,82,90,94,95,102,112,135,136,141],hxxfile:[55,133],hypot:[103,104,105,106,107,109,110,111,123,127,128,130,131,132],i_begin:[105,111,131],i_end:[105,111,131],ibegin:[5,12,105,111,117,121,154,179],ic0:131,ic1:131,icas:[103,113],icod:[114,186],icurv:[3,4,5,6,7,12,15,16,17,105,106,107,111,114,116,117,118,119,121,124,125,126,131,154,179],icurve1:111,icurve_begin:[12,111,121],icurve_end:[12,111,121],identifi:1,idx1:180,idx2:180,idx:[5,12,105,111,117,121,125,131,151,176,179,184],iend:[5,12,105,111,117,121,154,179],ifdef:[103,105,106,107,109,110,111,112,113,114,115,119,123,127,128,129,130,131,132],iff:[153,178],iflag:[150,151,152,153,154,156,157,158,179,182],ifndef:[105,107,109,110,111,112,117,119,121,122,125,127,128,129,130,131,132],ifun:[2,113],ignor:[105,110,111,127,128,129],ignoredarg:[150,151,152,153,154,157,158,159],ilist00:104,ilist01:104,ilist10:104,ilist11:104,ilist1:105,ilist:[3,4,5,6,7,12,15,16,75,90,96,104,105,106,107,111,114,116,117,118,119,121,124,125,129,131],illustr:[100,127],imag:180,implement:[0,2,132],impli:191,improv:107,inc:181,incident:191,includ:[103,104,105,106,107,108,109,110,111,112,116,117,118,119,121,124,127,128,129,130,131,132,141,191],index:[2,3,4,5,7,12,15,16,105,111,158,180,184],indirect:191,industri:185,industrial:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],infin:[0,7,103,105,107,111,153,178],infinit:111,info:[0,3,4,5,6,7,12,13,15,16,17,114,116,117,118,119,121,122,124,125,126,127,150,151,152,153,154,156,157,158,159,176,179,180,182,186],inform:[1,132,150,152,153,156,157,158,182],informazion:[103,112,113,115],infti:7,ingegneria:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],inherit:[133,140,187,188],init:[5,12,16,105,111,117,121,125,131],init_promote_map:129,initfil:[108,120],initi:[0,2,3,4,5,6,7,11,12,15,16,77,92,111,131,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,182,183],inizial:127,inlin:[1,2,3,4,5,6,7,9,10,11,12,13,14,15,16,17,71,73,80,82,90,94,95,110,113,114,123,128,132],input:[61,111,127,150,151,152,153,157,159,174,175,176,177,178,183,185,186],insert:103,insid:[17,73,74,107,109,127],instal:181,instanc:[150,151,152,153,154,157,158,159,175,176,177,178,179,180,182,183,184,186],instead:[3,4,5,6,7,12,15,16,75,90,96],int_0:[7,61,65,66,100,155,180],int_typ:[1,3,4,5,6,7,12,13,15,16,17,34,49,72,74,76,83,85,92,98,102,103,104,105,106,107,109,110,111,112,113,114,116,117,118,119,121,122,123,124,125,126,127,128,130,131,132,133,140],intc:[65,66,122,127],integr:[7,11,61,65,66,100,122,127,155,180],integralcurvature2:[7,11,107,119,121],integraljerk2:[7,11,107,119,121],integralsnap2:[7,11,107,119,121],interb:[150,151,152,153,154,156,157,158,182],interfac:191,interior:180,intermedi:6,intern:[154,179],interpol:[0,11,121,150,153,155,175,178,180,191,192],interrupt:191,intersect:[2,3,4,5,6,7,12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107,109,111,114,122,127,128],nor_iso_d:[3,4,5,6,7,12,15,16,114,122,127,128],nor_iso_dd:[3,4,5,6,7,12,15,16,114,122,127],nor_iso_ddd:[3,4,5,6,7,12,15,16,114,122,127],nor_sa:[3,4,5,6,7,12,15,16,114,122,127],nor_sae_d:[3,4,5,6,7,12,15,16,114,122,127],nor_sae_dd:[3,4,5,6,7,12,15,16,114,122,127],nor_sae_ddd:[3,4,5,6,7,12,15,16,114,122,127],nor_x_iso:[122,127],nor_x_iso_d:[122,127],nor_x_iso_dd:[122,127],nor_x_iso_ddd:[122,127],nor_x_sa:[122,127],nor_x_sae_d:[122,127],nor_x_sae_dd:[122,127],nor_x_sae_ddd:[122,127],nor_y_iso:[122,127],nor_y_iso_d:[122,127],nor_y_iso_dd:[122,127],nor_y_iso_ddd:[122,127],nor_y_sa:[122,127],nor_y_sae_d:[122,127],nor_y_sae_dd:[122,127],nor_y_sae_ddd:[122,127],normal:[0,3,4,5,6,7,12,15,16,127,150,151,152,153,154,156,157,158,175,176,178,179,182],note:[0,9,10,191,192],noth:110,notic:191,nout:107,now:109,nozero:108,npt:[0,7,13,16,98,107,110,119,121,123,125,128,131,150,151,152,153,154,175,176,177,178,179],ns0:131,ns1:131,nseg:[5,12,105,111,117,121,131,151,176],nsol:128,nullptr:[103,122],numbber:12,number:[0,5,6,7,9,10,11,12,65,72,76,83,92,94,109,132,150,151,152,153,154,175,176,177,178,179,182],numconstraint:[13,110,121],numer:[150,151,152,153,154,156,157,158,182],numeric_limit:[103,104,105,107,111,128,129,146],numpnt:[13,121],numpoint:[16,125],numroot:128,numseg:[5,12,16,111,117,121,125,131,151,154,176,179],numterm:127,numtheta:[13,110,121],nurb:[0,6,150,152,157,175,177,183],nx_begin:[114,115],nx_begin_iso:[3,4,5,6,7,12,15,16,106,114,115,116,117,118,119,121,124,130],nx_begin_sa:[3,4,5,6,7,12,15,16,114,115],nx_d:[3,4,5,6,7,12,15,16,114,122,127,128],nx_dd:[3,4,5,6,7,12,15,16,114,122,127,128],nx_ddd:[3,4,5,6,7,12,15,16,114,122,127,128],nx_end:[114,115],nx_end_iso:[3,4,5,6,7,12,15,16,114,115,116,117,121,124],nx_end_sa:[3,4,5,6,7,12,15,16,114,115],nx_iso:[3,4,5,6,7,12,15,16,114,128],nx_iso_d:[3,4,5,6,7,12,15,16,114,128],nx_iso_dd:[3,4,5,6,7,12,15,16,114,128],nx_iso_ddd:[3,4,5,6,7,12,15,16,114,128],nx_sae:[3,4,5,6,7,12,15,16,114],nx_sae_d:[3,4,5,6,7,12,15,16,114],nx_sae_dd:[3,4,5,6,7,12,15,16,114],nx_sae_ddd:[3,4,5,6,7,12,15,16,114],ny_begin:[114,115],ny_begin_iso:[3,4,5,6,7,12,15,16,106,114,115,116,117,118,119,121,124,130],ny_begin_sa:[3,4,5,6,7,12,15,16,114,115],ny_d:[3,4,5,6,7,12,15,16,114,122,127,128],ny_dd:[3,4,5,6,7,12,15,16,114,122,127,128],ny_ddd:[3,4,5,6,7,12,15,16,114,122,127,128],ny_end:[114,115],ny_end_iso:[3,4,5,6,7,12,15,16,114,115,116,117,121,124],ny_end_sa:[3,4,5,6,7,12,15,16,114,115],ny_iso:[3,4,5,6,7,12,15,16,114,128],ny_iso_d:[3,4,5,6,7,12,15,16,114,128],ny_iso_dd:[3,4,5,6,7,12,15,16,114,128],ny_iso_ddd:[3,4,5,6,7,12,15,16,114,128],ny_sa:[3,4,5,6,7,12,15,16,114],ny_sae_d:[3,4,5,6,7,12,15,16,114],ny_sae_dd:[3,4,5,6,7,12,15,16,114],ny_sae_ddd:[3,4,5,6,7,12,15,16,114],obj1:129,obj2:129,obj:[6,118,150,151,152,153,154,155,156,157,158,159,179,180,182,184,186],obj_handl:[150,151,152,153,154,156,157,158,159,178,179,182,186],object:[0,2,13,110,121,150,151,152,153,154,156,157,158,159,175,176,177,178,179,180,182,183,184,186],objecthandl:[175,176,177,178,179,180,182,183,184,186],obtain:[151,176],oco:116,octave_vers:180,odd:[154,158,179,184],off:[0,3,4,5,6,7,11,12,15,16,104,105,106,107,110,111,114,116,117,118,119,121,122,124,125,127,128,129,130,131,150,151,152,153,154,156,157,158,176,178,179,182],offs1:[117,129,150,151,152,153,154,156,157,158,182],offs2:[117,129],offs_b:[4,104,116],offs_c1:[69,75,82,90,114],offs_c2:[69,75,82,90,114],offs_c:[3,4,5,6,7,12,15,16,105,106,107,111,114,117,119,121],offs_cl:[16,105,111,125],offs_l:[15,124],offs_obj:[5,6,12,117,118,121],offs_pl:[16,125],offset:[0,3,4,5,6,7,8,11,12,15,16,69,75,82,90,107,108,110,119,120,127,150,151,152,153,154,156,157,158,176,178,179,182],ofstream:120,ok0:109,ok1:[105,109,111],okm:109,okular:108,oldterm:127,omega:[98,104,105,106,110,123,127,128],omega_l:128,omega_r:128,onc:112,one:[0,3,4,5,6,7,10,11,12,15,16,107,111,128,154,179],one_degre:[107,127],onli:[111,155,180,185],onseg:130,onto:0,open:[0,108],openfil:[108,120],oper:[1,4,5,6,7,11,12,13,15,16,17,26,27,28,29,32,33,35,52,53,54,102,104,105,106,107,110,111,113,114,116,117,118,119,121,124,125,126,130,131,132,133,140],optim:[7,153,178,181],optimalitytoler:180,optimized_sampl:[153,178],optimized_sample_intern:107,optimized_sample_internal_iso:[107,119],optimized_sample_iso:[7,107,119],optimized_sample_sa:[7,119],optimopt:180,optimset:180,optin:[150,175],option:[0,150,151,152,153,154,156,157,158,180,182],order:[61,101,130,180],org:[0,130,132,153,178,191,192],orgin:0,orient:[0,85,130,132,150,151,152,153,154,156,157,158,175,177,178,182,183],orient_2d:132,origgin:182,origin:[3,4,5,6,7,12,15,16,92,150,151,152,153,154,156,157,158,177,178,182,183],origin_at:[119,122,127],orthogon:[3,4,5,6,7,12,15,16,105,107,109,111,114,117,151,176],oscul:107,ostream_typ:[1,2,3,4,5,6,7,10,11,12,13,15,16,17,26,27,28,29,32,33,34,35,52,53,54,102,103,104,105,106,107,110,111,112,113,114,116,117,118,119,121,122,124,125,126,127,130,131,132,133,140],ostyp:191,osx:191,other:[16,132,191],otherwis:[5,7,12,132,151,176,191],othogon:[3,4,5,6,7,12,15,16],out:[2,3,4,5,6,7,11,12,14,15,16,72,75,76,83,90,92,96,98,100,107,122,127,131,191],outout:[176,179],output:[127,150,151,152,153,154,156,157,158,159,174,175,176,177,178,179,180,181,182,183,184,185,186],outsid:17,outsiz:74,overlap:[2,17,119,126,132,159,174,185,186],overrid:[4,5,6,7,12,15,16,116,117,118,119,121,124,125],owner:191,p1p2:[15,124],p1q1:130,p2q2:130,packag:181,page:132,pair:[2,113,114,129,135],pairptrbbox:[2,103,113],paolo:[103,112,113,115],paper:132,parabola:107,param:[15,16],paramet:[0,1,2,3,4,5,6,7,9,10,11,12,14,15,16,61,65,66,69,72,73,74,75,76,77,82,83,85,90,91,92,93,96,98,100,107,132,150,151,152,153,154,156,157,158,177,178,180,182],parameter2:92,parameter:[3,4,5,6,7,11,12,15,16],parametr:[5,12,92],parametrix:[3,4,5,6,7,12,15,16],paramnurb:[6,15,106,118,124,130],paramt:16,parent:[35,36,37,38,39,40,41,42,43,44,45,46,47,48],part:127,particular:[0,191],pass:[0,4,5,6,12,73,77,91,151,152,155,157,176,177,180,183],past:12,path:[23,85,108],pbbox:[103,113],pc1:119,pc2:119,pclot:108,pdf:[0,108,191,192],pdffile:108,pen:108,penna:[8,108,120],per:110,perform:[7,132],permit:191,phi0:[109,127],phi1:[109,127],phi:[110,121,127],phia:109,phib:109,piano:106,piccolo:[107,127],piecewis:[9,10,11,12,155,180],pinfin:[7,119,122,127],piu:[107,127],pivot:128,pkg:181,pl1:129,pl2:129,placement:[8,108,120],planar:4,plist1:[117,121],plist2:[117,121],plot2:[159,186],plot:[0,7,150,151,152,153,154,156,157,158,159,175,176,177,178,179,182,183,184,186],plot_off:[151,153,154,176,178,179],plotangl:[150,151,153,154,175,176,178,179],plotbbox:[150,151,152,153,154,156,157,158,182],plotcurvatur:[150,151,153,154,175,176,178,179],plotnorm:[150,151,153,154,175,176,178,179],plotpolygon:[152,177],plottbox:[150,151,152,153,154,156,157,158,182],plottriangl:[150,151,152,153,154,156,157,158,182],plu:[7,119,122,127],poijt:98,poinst:[151,176],point:[0,1,2,3,4,5,6,7,9,10,11,12,15,16,73,74,77,83,85,91,98,104,105,107,111,128,130,132,150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,183,184,186,191,192],pointer:[150,151,152,153,154,156,157,158,182],pointinsidecircl:[45,102,123,133,140],poject:[153,178],poli:[6,15,106,118,124,130],polilin:16,polygon:[6,16,125,131,152,158,177,184],polylin:[0,3,5,12,23,34,55,102,105,111,112,117,121,124,128,129,133,140,141,148,154,156,173,179,181,187,188,189,191],polylineclass:[18,133,160,187],polylinemexwrapp:[181,184],polynomialroot:[49,50,127,128,181,191],pop_back:[105,111],populate_toolbox:0,pos:103,posbox:103,posit:[0,1,3,4,5,6,7,11,12,15,16,107,151,153,154,176,178,179],possibil:6,possibl:[151,176,191],postion:[151,176],power2:[110,128],power3:[110,128],power4:110,pp1:182,pp2:182,pp3:182,ppair:129,ppl1:125,ppl2:125,pplot_offslot:[153,178],practition:[100,127],pragma:[105,110,111,112,127,128,129],precis:132,precomput:121,predic:132,prescrib:0,present:[154,179],pretti:[1,2,3,4,5,6,7,12,15,16,71,81,84],previou:14,print:[0,1,2,3,4,5,6,7,12,15,16,71,81,84,103,106,107,110,111,113,127,130,131,132,150,152,153,156,157,158,182],privat:[113,119,120,121,125,180,186],prj:0,problem:[0,6,7,9,10,11,12,110,121,127,155,180,191,192],procur:191,profit:191,program:[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,100,141,161,162,163,164,165,166,167,168,169,170,171,172,189],project:[0,3,4,5,6,7,12,15,16,77,91,105,107,109,111,114,117,151,153,154,176,178,179,191,192],projectpointoncircl:[50,102,107,123,128,133,140],projectpointoncirclearc:[50,102,106,123,128,133,140],promemoria:113,promote_map:129,properti:[180,182,186],propos:0,protect:[114,182],provid:[2,191],pseudo:14,ptr1:[117,119,121,125],ptr2:[117,119,121,125],ptraabb:[2,103,113],ptrbbox:[1,2,103,113,117,119,121,125],punto:[107,127],purpos:[100,191],push:[105,110,111,127,151,176],push_back:[5,12,16,103,104,105,106,107,111,117,121,124,125,131,151,154,176,179,180],push_back_g1:[5,12,105,111,117,121,154,176,179,180],put:[101,104,110,111,131],q_x:[3,4,5,6,7,12,15,16],q_y:[3,4,5,6,7,12,15,16],qp_x:130,qp_y:130,qquad:[9,10,61,65,66,100],qqx:109,qqy:109,qsolv:128,quad:[9,10,11],quadrat:[76,128,181],quarticrootsflock:[181,191],quasi:109,queri:2,qxx:[105,107,109,111],qyi:[105,107,109,111],radiant:[7,155,180],radic:127,rai:[6,118],rake:191,rang:[7,12,101,104,105,110,111,131,154,179],rangesymm:[50,102,104,110,123,128,133,140],rank:1,ration:127,raw:12,read:[12,154,179],real:127,real_root0:128,real_root1:128,real_typ:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,34,49,56,57,60,64,67,68,69,70,72,73,74,75,76,77,82,83,85,86,87,88,89,90,91,92,94,97,98,101,102,103,104,105,106,107,108,109,110,111,112,113,114,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,135,140,143,144,145,146,147,149],realloc:110,realvalu:[110,121],reccomend:[155,180],recomput:[12,107],recurr:127,recurs:191,red:[0,150,151,152,153,154,156,157,158,175,176,179,182,184],redistribut:191,reduc:2,ref:[150,151,152,153,154,156,157,158,159,175,176,177,178,179,182,183,184,186],refer:[11,110,150,151,152,153,154,155,157,158,159,175,176,177,178,179,180,183,184,186],refin:[105,107,111],relationship:[133,140,187,188],releas:[0,191],remov:101,repositori:191,represant:[150,175],represent:[152,157,177,183],reproduc:191,res1:[104,111],res:[104,106,111,114,121,127,128,154,175,178,179,182],reserv:[5,12,104,105,106,107,111,117,121,131,151,154,176,179,180,191],reset:103,resetlastinterv:[105,111,117,121,125,131],resiz:[105,111,121],resnorm:180,respect:[0,3,4,5,6,7,12,15,16,153,157,178,183],retain:191,revers:[0,3,4,5,6,7,11,12,15,16,104,105,106,109,111,114,116,117,118,119,121,122,124,125,127,130,131,150,151,152,153,154,156,157,158,182],rho:109,rhoi:109,rhox:109,rhs:[1,14,113],ricostruzion:110,riferimento:110,right:[3,4,5,6,7,12,15,16,56,60,61,65,66,67,85,87,89,97,109,191],risolvo:107,rla:127,rlb:127,rlc:127,rld:127,robust:[0,132,191,192],root:107,rotat:[0,3,4,5,6,7,11,12,15,16,17,85,98,105,106,111,114,116,117,118,119,121,122,124,125,126,127,130,132,150,151,152,153,154,156,157,158,159,182,186],rotinv:110,rough:11,round:[121,127,128],routin:[12,102,132],rovescia:110,rozza:[107,127],rq_x:130,rq_y:130,rst:[175,176,177,178,179,180,182,183,184,186],rubi:0,run:[0,185,191],s12:128,s1_max:107,s1_min:107,s2_max:107,s2_min:107,s_0:[6,7,155,180],s_1:[155,180],s_begin:[3,4,5,6,7,12,15,16,104,105,106,107,111,114,116,117,118,119,121,124,125,131,154,179],s_end:[3,4,5,6,7,12,15,16,104,105,106,107,111,114,116,117,118,119,121,124,125,131,154,179],s_k:[155,180],s_n:[155,180],s_off:[15,124,130],s_origin:[122,127],s_to_index:[154,158,179,184],sa1:128,sa2:128,sae:[3,4,5,6,7,12,15,16,150,151,152,153,154,156,157,158,178,179,182],sampl:[7,150,151,152,153,154,175,176,177,178,179],save:[10,11,12,110,111,121,151,154,176,179],save_seg:111,saveclothoid:[154,179],savesampl:[154,179],sc1:106,sc2:106,scalato:127,scale:[0,3,4,5,6,7,12,15,16,17,104,105,106,107,110,111,114,116,117,118,119,121,124,125,126,127,131,150,151,152,153,154,156,157,158,159,177,182,186],scienc:[0,155,180,190,191,192],scientif:[0,7,153,178,191,192],scienza:[103,112,113,115],scl:104,script:185,sdk:127,search:[2,12,105,111,117,121,125,131],searchinterv:[105,111,131],second:[0,3,4,5,6,7,9,10,11,12,15,16,69,72,74,75,76,82,85,90,92,93,96,103,104,105,107,111,113,131,150,151,152,153,154,156,157,158,174,175,176,179,182,184,185],secondari:131,sedgewick:85,see:[0,130],seek:2,segment:[0,5,6,7,10,11,12,15,16,85,111,130,131,132,150,151,152,153,154,155,156,157,158,176,179,180,182,183,184],segment_length:[5,12,105,111,117,121],segment_length_iso:[5,12,105,111,117,121],segment_length_sa:[12,121],segmenti:111,segmento:[111,131],select:2,self:[150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,183,184,186],separ:0,seri:[12,127],servic:191,set:[4,12,107,151,152,154,176,177,179,180],setaccess:[180,182,186],setmaxit:[9,10,11,110,121],setp1:[13,121],setp2:[13,121],setp3:[13,121],setp4:[13,121],setp5:[13,121],setp6:[13,121],setp7:[13,121],setp8:[13,121],setp9:[13,121],settoler:[9,10,11,110,121],setup:[0,110,155,180],setw:113,sever:132,sfactor:[105,111,131],sflex:[107,109,127],shall:191,shared_ptr:[103,105,107,111,112,113,131],showax:[8,108,120],siam:[0,7,153,178,191,192],sign:[15,85,105,107,109,111],simpl:7,sin:[6,7,56,57,61,65,66,67,70,73,91,92,100,104,106,107,109,110,116,118,122,123,124,127,128,130,132,175,178],sinc:[50,102,104,106,123,127,128,133,140],sinc_d:[50,102,123,128,133,140],sinc_dd:[50,102,123,128,133,140],sinc_ddd:[50,102,123,128,133,140],sine:[65,66,127],singl:[0,5],singular:[14,123,128],sintheta0:[6,118],sinu:127,sistema:107,sivakanth:[100,127],size:[3,4,5,6,7,12,15,16,103,104,105,106,107,108,111,117,121,125,131,150,151,152,153,154,156,157,158,182],size_t:[103,105,106,107,110,111,117,119,121,125,131],skip:111,slast:131,sm_guess:[110,121],small:[111,180],smax:[0,150,151,152,153,154,156,157,158,182,183],smin:[0,150,151,152,153,154,156,157,158,182,183],snap:11,softwar:191,solo:127,solut:[0,9,10,11,14,72,76,92,104,110,127,128,155,180],soluzion:110,solv:[6,7,9,10,11,12,14,72,76,110,121,123,127,128,155,180],solve2x2:[45,102,110,123,128,133,140],solve2x2class:[18,133],solvelinearquadrat:[50,102,123,128,133,140],solvelinearquadratic2:[50,102,123,128,133,140],solvenlsyscirclecircl:128,solver:[110,155,180],some:[0,150,151,152,153,154,156,157,158,182],someth:[107,110],son:[0,191,192],sono:111,soon:0,sourc:[132,191],spars:180,spatial:2,special:[130,191],specifyconstraintgradi:180,specifyobjectivegradi:180,spline:[0,4,5,11,83,155,180,192],split:[6,7,107,109,127],split_at_flex:[109,122,127],spljne:13,sqp:180,sqrt:[109,127,128,129,147,149],sqrtmachepsi:[50,102,123,128,133,140],squar:[11,155,180],sr1:180,src:181,src_mex:[0,181],ss0:[6,16,106,111,118,125,131],ss1:[6,16,105,106,107,111,118,119,121,125,128,131],ss2:[105,106,107,111,119,121,128,131],ssf:109,sss0:131,sss1:131,sss:[107,109],stabl:127,standard:[3,4,5,6,7,12,15,16,109,110,121],start:[0,6,7,73,77,91],stat:180,static_cast:[104,105,106,107,111,130,131],statist:181,std:[3,4,5,6,7,8,12,15,16,103,104,105,106,107,108,109,110,111,112,113,114,116,117,118,119,120,121,124,125,127,128,129,130,131,132,135,136,138,139],step:[7,107,108,150,151,153,154,175,176,178,179],step_found:110,stesso:[111,131],store:[0,2,3,4,5,6,7,12,14,15,16,75,90,96,150,151,152,153,154,156,157,158,182,184],str:[175,176,177,178,179,183,184,186],straight:[0,15,16,152,177],stream:[1,2,3,4,5,6,7,10,11,12,13,15,16,17,58,59,62,63,71,78,79,81,84,99,103,104,105,106,107,110,111,113,114,116,117,118,119,121,124,125,126,130,131,132],streamstream:12,strict:191,string:[8,34,108,111,112,120,151,176],struct:[130,154,179,181],structur:[0,2],studi:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],studio:[103,106,109,127,130,131],subclass:[3,156],submdul:191,submodul:[181,191],substitut:191,substr:108,success:[6,153,178],suggest:7,suing:[157,183],sul:130,sum:[0,127],sumd:127,sumn:127,survatur:[155,180],swap:[105,106,107,111,130,131,132],swap_s_val:[3,4,5,6,7,12,15,16,75,90,96,104,105,106,107,111,114,116,117,118,119,121,124,125,129,131],swap_tre:[2,103,113],system:[14,72,76,108],t12:128,t2d_approximate_collis:[107,119],t2d_collision_iso:[107,119],t2d_collision_list_iso:[105,111,117,121],t_x:[3,4,5,6,7,11,12,15,16],t_y:[3,4,5,6,7,11,12,15,16],taglia:111,tail:[5,12],take:181,taken:[5,12,151,176],tan:[106,128],tangent:[3,4,5,6,7,12,15,16,73,77,91,155,180],target:[110,132,155,180],targettyp:[13,121],tau:110,tdk:179,tdkappa:111,technolog:[0,190,191],telasula:[100,127],templat:[2,113],term:127,test:[0,2,132],text:[8,108,120,176,179],textrm:[9,10,11],tg0_x:[119,122],tg0_y:[119,122],tg_d:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,122,124,127],tg_dd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,122,124,127],tg_ddd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,122,124,127],tg_x:[3,5,12,16,105,111,114,117,119,121,122],tg_x_d:[3,5,12,16,105,111,114,117,119,121,122,127],tg_x_dd:[3,5,12,16,105,111,114,117,119,121,122,127],tg_x_ddd:[3,5,12,16,105,111,114,117,119,121,122,127],tg_y:[3,5,12,16,105,111,114,117,119,121,122],tg_y_d:[3,5,12,16,105,111,114,117,119,121,122,127],tg_y_dd:[3,5,12,16,105,111,114,117,119,121,122,127],tg_y_ddd:[3,5,12,16,105,111,114,117,119,121,122,127],th0:[104,110,121,127,182],th1:[104,110,121,182],th2:127,th_d2:127,th_d:[127,128],th_dd:[127,128],th_ddd:128,tha:104,than:[0,3,4,5,6,7,12,15,16,127],thb:104,the3:11,theori:[132,191],theta0:[0,4,5,6,7,9,10,11,12,13,15,77,104,105,106,107,109,110,111,116,117,118,119,121,122,123,124,127,128,130,150,151,152,153,154,155,157,175,176,177,178,179,180,183],theta1:[0,4,5,7,9,10,11,12,92,104,105,107,109,110,111,116,117,119,121,122,123,127,128,150,151,153,154,155,175,176,178,179,180],theta2:[92,123,128],theta:[0,3,4,5,6,7,9,10,11,12,13,15,16,73,83,98,104,105,106,107,109,110,111,114,116,117,118,119,121,122,123,124,125,127,128,131,150,151,152,153,154,155,156,157,158,175,176,178,179,180,182],theta_0:[4,5,6,7,9,10,11,91],theta_1:[4,5,7,9,10,11,92],theta_2:92,theta_d:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,116,117,118,119,121,122,124,125,127,128,131,150,151,152,153,154,156,157,158,182],theta_dd:[3,4,5,6,7,11,12,15,16,105,110,111,114,116,117,118,119,121,122,124,125,127,128,131,150,151,152,153,154,156,157,158,182],theta_ddd:[3,4,5,6,7,11,12,15,16,105,110,111,114,116,117,118,119,121,122,124,125,128,131,150,151,152,153,154,156,157,158,182],theta_guess:[13,110,121,127,180],theta_i:5,theta_max:[13,98,105,110,121,123,127,128,180],theta_min:[13,98,105,110,121,123,127,128,180],thetabegin0:0,thetabegin1:0,thetabegin:[0,3,4,5,6,7,11,12,15,16,104,105,107,108,110,111,114,115,116,117,118,119,121,150,151,152,153,154,156,157,158,175,178,182],thetac:111,thetaend0:0,thetaend1:0,thetaend:[0,3,4,5,6,7,11,12,15,16,104,105,107,110,111,114,115,116,117,121,150,151,152,153,154,156,157,158,175,180,182],thetamiddl:[4,104,111,116,150,175],thetaminmax:[6,7,11,106,107,110,118,119,121],thetan:[12,13,121],thetatotalvari:[6,7,11,107,118,119,121],thflex:109,thh:107,thhh:107,thi:[7,103,104,105,106,107,111,113,114,116,117,118,119,121,122,124,125,126,127,130,131,132,152,155,177,180,185,191],third:[0,3,4,5,6,7,10,11,12,15,16,72,74,76,85,150,151,152,153,154,156,157,158,179,182],this_thread:[105,111,117,121,125,131],thl:107,thm1:110,thm:[107,110,121],thm_guess:[110,121],thmax1:110,thmax:[6,7,11,106,107,110,118,119,121,127],thmin1:110,thmin:[6,7,11,106,107,110,118,119,121,127],thompson:[100,127],thr:107,three:[94,130,132,150,151,152,153,154,156,157,158,182],thstar:104,tic:180,tick:108,time:[129,181],tirnagl:[3,4,5,7,12,15,16],tkappa0:[111,179],tmp0:127,tmp1:127,tmp2:[127,132],tmp:[104,106,109,110,111,121,127,128,131,132],to_nurb:[0,150,152,157,175,177,183],tob:[15,124,130],toc:180,tol:[6,7,9,10,11,16,106,110,111,118,119,121,122,125,127,128,131,154,158,179,180,184],tol_tg:[12,121],tol_xi:[12,121],toler:[7,9,10,11,12,110,111,121,154,158,179,184],tolfun:180,tolx:180,tonurb:[6,15,106,118,124,130],too:[107,111,150,151,152,153,154,156,157,158,180,182],tool:132,toolbox:[0,191],top:[3,4,5,6,7,12,15,16],tort:191,total:[0,7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Interface Manual","Class BBox","Class AABBtree","Class BaseCurve","Class Biarc","Class BiarcList","Class CircleArc","Class ClothoidCurve","Class AsyPlot","Class G2solve2arc","Class G2solveCLC","Class G2solve3arc","Class ClothoidList","Class ClothoidSplineG2","Class Solve2x2","Class LineSegment","Class PolyLine","Class Triangle2D","Class Hierarchy","Define G2LIB_DEBUG_MESSAGE","Define G2LIB_USE_CXX11","Define GLIB2_TOL_ANGLE","Define CLOTHOIDS_dot_HH","Directory Clothoids","Enum CurveType","File AABBtree.cc","File Biarc.cc","File BiarcList.cc","File Circle.cc","File Clothoid.cc","File ClothoidAsyPlot.cc","File ClothoidDistance.cc","File ClothoidG2.cc","File ClothoidList.cc","File Clothoids.hh","File AABBtree.hxx","File BaseCurve.hxx","File BaseCurve_using.hxx","File Biarc.hxx","File BiarcList.hxx","File Circle.hxx","File Clothoid.hxx","File ClothoidAsyPlot.hxx","File ClothoidList.hxx","File Fresnel.hxx","File G2lib.hxx","File Line.hxx","File PolyLine.hxx","File Triangle2D.hxx","File Fresnel.cc","File G2lib.cc","File G2lib_intersect.cc","File Line.cc","File PolyLine.cc","File Triangle2D.cc","File Hierarchy","Function G2lib::Sinc_DD","Function G2lib::Sinc","Function G2lib::operator<<(ostream_type&, PolyLine const&)","Function G2lib::operator<<(ostream_type&, Triangle2D const&)","Function G2lib::Atanc_DDD","Function G2lib::FresnelCS(int_type, real_type, real_type *, real_type *)","Function G2lib::operator<<(ostream_type&, ClothoidList const&)","Function G2lib::operator<<(ostream_type&, ClothoidSplineG2 const&)","Function G2lib::Atanc_D","Function G2lib::GeneralizedFresnelCS(int_type, real_type, real_type, real_type, real_type *, real_type *)","Function G2lib::GeneralizedFresnelCS(real_type, real_type, real_type, real_type&, real_type&)","Function G2lib::Sinc_DDD","Function G2lib::Cosc_D","Function G2lib::collision_ISO","Function G2lib::Sinc_D","Function G2lib::operator<<(ostream_type&, BBox const&)","Function G2lib::solveLinearQuadratic2","Function G2lib::pointInsideCircle","Function G2lib::isPointInTriangle","Function G2lib::intersect_ISO","Function G2lib::solveLinearQuadratic","Function G2lib::projectPointOnCircle","Function G2lib::operator<<(ostream_type&, LineSegment const&)","Function G2lib::operator<<(ostream_type&, ClothoidCurve const&)","Function G2lib::yesAABBtree","Function G2lib::operator<<(ostream_type&, Biarc const&)","Function G2lib::collision_SAE","Function G2lib::build_guess_theta","Function G2lib::operator<<(ostream_type&, CircleArc const&)","Function G2lib::isCounterClockwise","Function G2lib::Cosc","Function G2lib::Atanc_DD","Function G2lib::Atanc","Function G2lib::Cosc_DD","Function G2lib::intersect_SAE","Function G2lib::projectPointOnCircleArc","Function G2lib::intersectCircleCircle","Function G2lib::collision","Function G2lib::minmax3","Function G2lib::noAABBtree","Function G2lib::intersect","Function G2lib::Cosc_DDD","Function G2lib::xy_to_guess_angle","Function G2lib::operator<<(ostream_type&, BiarcList const&)","Function G2lib::FresnelCS(real_type, real_type&, real_type&)","Function G2lib::rangeSymm","Namespace G2lib","Program Listing for File AABBtree.cc","Program Listing for File Biarc.cc","Program Listing for File BiarcList.cc","Program Listing for File Circle.cc","Program Listing for File Clothoid.cc","Program Listing for File ClothoidAsyPlot.cc","Program Listing for File ClothoidDistance.cc","Program Listing for File ClothoidG2.cc","Program Listing for File ClothoidList.cc","Program Listing for File Clothoids.hh","Program Listing for File AABBtree.hxx","Program Listing for File BaseCurve.hxx","Program Listing for File BaseCurve_using.hxx","Program Listing for File Biarc.hxx","Program Listing for File BiarcList.hxx","Program Listing for File Circle.hxx","Program Listing for File Clothoid.hxx","Program Listing for File ClothoidAsyPlot.hxx","Program Listing for File ClothoidList.hxx","Program Listing for File Fresnel.hxx","Program Listing for File G2lib.hxx","Program Listing for File Line.hxx","Program Listing for File PolyLine.hxx","Program Listing for File Triangle2D.hxx","Program Listing for File Fresnel.cc","Program Listing for File G2lib.cc","Program Listing for File G2lib_intersect.cc","Program Listing for File Line.cc","Program Listing for File PolyLine.cc","Program Listing for File Triangle2D.cc","C++ API","Typedef G2lib::real_type","Typedef G2lib::Ipair","Typedef G2lib::IntersectList","Typedef G2lib::int_type","Typedef G2lib::istream_type","Typedef G2lib::ostream_type","Full API","Full API","Variable G2lib::intersect_with_AABBtree","Variable G2lib::machepsi10","Variable G2lib::machepsi1000","Variable G2lib::machepsi100","Variable G2lib::machepsi","Variable G2lib::m_1_sqrt_pi","Variable G2lib::CurveType_name","Variable G2lib::sqrtMachepsi","Class Biarc","Class BiarcList","Class CircleArc","Class ClothoidCurve","Class ClothoidList","Class ClothoidSplineG2","Class CurveBase","Class LineSegment","Class PolyLine","Class Triangle2D","Class Hierarchy","File Biarc.m","File BiarcList.m","File CircleArc.m","File ClothoidCurve.m","File ClothoidList.m","File ClothoidSplineG2.m","File CompileOctave.m","File CurveBase.m","File LineSegment.m","File PolyLine.m","File TriTriOverlap.m","File Triangle2D.m","File Hierarchy","Function TriTriOverlap","Program Listing for File Biarc.m","Program Listing for File BiarcList.m","Program Listing for File CircleArc.m","Program Listing for File ClothoidCurve.m","Program Listing for File ClothoidList.m","Program Listing for File ClothoidSplineG2.m","Program Listing for File CompileOctave.m","Program Listing for File CurveBase.m","Program Listing for File LineSegment.m","Program Listing for File PolyLine.m","Program Listing for File TriTriOverlap.m","Program Listing for File Triangle2D.m","MATLAB API","Full API","Full API","Authors","G1 and G2 fitting with clothoids, spline of clothods, circle arc and biarc","References"],titleterms:{"class":[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,35,36,38,39,40,41,42,43,45,46,47,48,102,133,140,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,168,169,170,172,187,188],"const":[58,59,62,63,71,78,79,81,84,99],"enum":[24,36,102,133,140],"function":[26,27,28,29,32,33,35,36,45,49,50,51,52,53,54,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,133,140,171,174,187,188],aabbtre:[2,25,35,103,113],api:[133,140,141,187,188,189],arc:191,asyplot:8,atanc:88,atanc_d:64,atanc_dd:87,atanc_ddd:60,author:[0,190,191],base:[4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],basecurv:[3,36,114],basecurve_us:[37,115],bbox:[1,71],biarc:[0,4,26,38,81,104,116,150,161,175,191],biarclist:[5,27,39,99,105,117,151,162,176],build_guess_theta:83,circl:[28,40,106,118,191],circlearc:[0,6,84,152,163,177],clothod:191,clothoid:[23,29,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,107,112,119,191],clothoidasyplot:[30,42,108,120],clothoidcurv:[0,7,79,153,164,178],clothoiddist:[31,109],clothoidg2:[32,110],clothoidlist:[0,12,33,43,62,111,121,154,165,179],clothoids_dot_hh:22,clothoidsplineg2:[0,13,63,155,166,180],collis:93,collision_iso:69,collision_sa:82,compileoctav:[167,181],constuctor:0,content:[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,102,161,162,163,164,165,166,167,168,169,170,171,172,191],cosc:86,cosc_d:68,cosc_dd:89,cosc_ddd:97,curvebas:[156,168,182],curvetyp:24,curvetype_nam:148,defin:[19,20,21,22,34,133,140],definit:[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,161,162,163,164,165,166,167,168,169,170,171,172],deriv:[3,156],descript:102,detail:102,directori:[23,141],distanc:0,document:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,19,20,21,22,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,134,135,136,137,138,139,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174],evalu:0,file:[23,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,141,161,162,163,164,165,166,167,168,169,170,171,172,173,175,176,177,178,179,180,181,182,183,184,185,186,187,189],fit:191,fresnel:[44,49,122,127],fresnelc:[0,61,100],full:[133,140,141,187,188,189],g2lib:[45,50,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,123,128,134,135,136,137,138,139,142,143,144,145,146,147,148,149],g2lib_debug_messag:19,g2lib_intersect:[51,129],g2lib_use_cxx11:20,g2solve2arc:9,g2solve3arc:11,g2solveclc:10,generalizedfresnelc:[65,66],glib2_tol_angl:21,hierarchi:[18,55,133,160,173,187],hxx:[35,36,37,38,39,40,41,42,43,44,45,46,47,48,113,114,115,116,117,118,119,120,121,122,123,124,125,126],includ:[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54],inherit:[3,4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],instal:[0,191],int_typ:[61,65,137],interfac:0,intersect:[0,96],intersect_iso:75,intersect_sa:90,intersect_with_aabbtre:142,intersectcirclecircl:92,intersectlist:136,ipair:135,iscounterclockwis:85,ispointintriangl:74,istream_typ:138,licens:191,line:[46,52,124,130],lineseg:[0,15,78,157,169,183],list:[103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,175,176,177,178,179,180,181,182,183,184,185,186],m_1_sqrt_pi:147,machepsi1000:144,machepsi100:145,machepsi10:143,machepsi:146,manual:0,matlab:[0,187,191],method:0,mex:0,minmax3:94,namespac:[25,26,27,28,29,30,31,32,33,34,35,36,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,102,133,140],noaabbtre:95,oper:[58,59,62,63,71,78,79,81,84,99],ostream_typ:[58,59,62,63,71,78,79,81,84,99,139],pointinsidecircl:73,polylin:[16,47,53,58,125,131,158,170,184],program:[103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,175,176,177,178,179,180,181,182,183,184,185,186],projectpointoncircl:77,projectpointoncirclearc:91,rangesymm:101,real_typ:[61,65,66,100,134],refer:[0,191,192],relationship:[3,4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],sinc:57,sinc_d:70,sinc_dd:56,sinc_ddd:67,solve2x2:14,solvelinearquadrat:76,solvelinearquadratic2:72,spline:191,sqrtmachepsi:149,struct:[133,140,187,188],triangle2d:[0,17,48,54,59,126,132,159,172,186],tritrioverlap:[171,174,185],type:[3,4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],typedef:[34,36,102,133,134,135,136,137,138,139,140],variabl:[50,102,133,140,142,143,144,145,146,147,148,149],xy_to_guess_angl:98,yesaabbtre:80}}) \ No newline at end of file diff --git a/src/BiarcList.cc b/src/BiarcList.cc index 18880228..368fe082 100644 --- a/src/BiarcList.cc +++ b/src/BiarcList.cc @@ -1165,14 +1165,13 @@ namespace G2lib { \*/ int_type - BiarcList::closestPoint_ISO( + BiarcList::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { @@ -1193,8 +1192,8 @@ namespace G2lib { real_type dst = T.distMin( qx, qy ); if ( dst < DST ) { // refine distance - real_type xx, yy, ss; - m_biarcList[T.Icurve()].closestPoint_ISO( qx, qy, offs, xx, yy, ss, dst ); + real_type xx, yy, ss, tt; + m_biarcList[T.Icurve()].closestPoint_ISO( qx, qy, offs, xx, yy, ss, tt, dst ); if ( dst < DST ) { DST = dst; s = ss + m_s0[T.Icurve()]; @@ -1204,14 +1203,36 @@ namespace G2lib { } } } + return icurve; + } + int_type + BiarcList::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + int_type icurve = this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; m_biarcList[icurve].nor_ISO( s - m_s0[icurve], nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -(icurve+1); - return icurve; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "BiarcList::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -(icurve+1) : icurve; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/Clothoid.cc b/src/Clothoid.cc index 2408db20..b9261497 100644 --- a/src/Clothoid.cc +++ b/src/Clothoid.cc @@ -559,7 +559,7 @@ namespace G2lib { \*/ void - ClothoidCurve::closestPoint_internal_ISO( + ClothoidCurve::closestPoint_internal( real_type s_begin, real_type s_end, real_type qx, @@ -618,15 +618,14 @@ namespace G2lib { // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - int_type - ClothoidCurve::closestPoint_ISO( + void + ClothoidCurve::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { DST = numeric_limits::infinity(); @@ -646,7 +645,7 @@ namespace G2lib { if ( dst < DST ) { // refine distance real_type xx, yy, ss; - closestPoint_internal_ISO( + closestPoint_internal( T.S0(), T.S1(), qx, qy, offs, xx, yy, ss, dst ); if ( dst < DST ) { @@ -657,13 +656,37 @@ namespace G2lib { } } } + } + + // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + int_type + ClothoidCurve::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; nor_ISO( s, nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -1; - return 1; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "Clothoid::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -1 : 1; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/ClothoidDistance.cc b/src/ClothoidDistance.cc index 693948cf..37ed8dbe 100644 --- a/src/ClothoidDistance.cc +++ b/src/ClothoidDistance.cc @@ -535,14 +535,18 @@ namespace G2lib { dst = d0; } } + // check if projection is orthogonal real_type nx, ny; nor_ISO( S, nx, ny ); - real_type dx = qx-X; - real_type dy = qy-Y; - T = dx * nx + dy * ny; - real_type tol = (dst > 1 ? dst*machepsi1000 : machepsi1000); - if ( abs(abs(T)-dst) < tol ) return 1; - return -1; + real_type qxx = qx - X; + real_type qyy = qy - Y; + T = qxx * nx + qyy * ny; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "ClothoidCurve::closestPoint_ISO: ||P-P0|| = {}, |(P-P0).T| = {}\n", + dst, pt + ); + return pt > GLIB2_TOL_ANGLE*dst ? -1 : 1; } /* diff --git a/src/ClothoidList.cc b/src/ClothoidList.cc index 64ed3787..de1a6a05 100644 --- a/src/ClothoidList.cc +++ b/src/ClothoidList.cc @@ -1444,14 +1444,13 @@ namespace G2lib { \*/ int_type - ClothoidList::closestPoint_ISO( + ClothoidList::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { @@ -1472,7 +1471,7 @@ namespace G2lib { if ( dst < DST ) { // refine distance real_type xx, yy, ss; - m_clotoidList[T.Icurve()].closestPoint_internal_ISO( + m_clotoidList[T.Icurve()].closestPoint_internal( T.S0(), T.S1(), qx, qy, offs, xx, yy, ss, dst ); if ( dst < DST ) { @@ -1484,14 +1483,38 @@ namespace G2lib { } } } + return icurve; + } + // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + int_type + ClothoidList::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + int_type icurve = this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; m_clotoidList[icurve].nor_ISO( s - m_s0[icurve], nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -(icurve+1); - return icurve; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -(icurve+1) : icurve; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -1536,7 +1559,7 @@ namespace G2lib { if ( dst < DST ) { // refine distance real_type xx, yy, ss; - m_clotoidList[T.Icurve()].closestPoint_internal_ISO( + m_clotoidList[T.Icurve()].closestPoint_internal( T.S0(), T.S1(), qx, qy, 0, xx, yy, ss, dst ); if ( dst < DST ) { @@ -1568,7 +1591,7 @@ namespace G2lib { "ClothoidList::closestPointInRange_ISO, empty list\n" ); int_type nsegs = this->numSegments(); - if ( nsegs == 1 ) { + if ( nsegs == 1 ) { // only 1 segment to check icurve = 0; int_type res = m_clotoidList.front().closestPoint_ISO( qx, qy, x, y, s, t, dst ); s += m_s0[0]; @@ -1589,21 +1612,36 @@ namespace G2lib { int_type res = m_clotoidList[icurve].closestPoint_ISO( qx, qy, x, y, s, t, dst ); s += m_s0[icurve]; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO\n" + "first segment #{} dst = {} res = {}\n", + icurve, dst, res + ); + if ( ib == ie ) return res; // only one segment to check int_type iseg = ib; do { if ( ++iseg >= nsegs ) iseg -= nsegs; // next segment real_type C_x, C_y, C_s, C_t, C_dst; - int_type C_res = m_clotoidList[iseg].closestPoint_ISO( qx, qy, C_x, C_y, C_s, C_t, C_dst ); - if ( res < 0 || (C_res >= 0 && C_dst < dst) ) { + int_type C_res = m_clotoidList[iseg].closestPoint_ISO( + qx, qy, C_x, C_y, C_s, C_t, C_dst + ); + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO: segment #{} dst = {} res = {}\n", + iseg, C_dst, C_res + ); + if ( C_dst < dst ) { dst = C_dst; x = C_x; y = C_y; - s = C_s+m_s0[iseg]; + s = C_s + m_s0[iseg]; t = C_t; icurve = iseg; res = C_res; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO, new min at s = {}, res = {}\n", s, res + ); } } while ( iseg != ie ); return res; @@ -1655,7 +1693,7 @@ namespace G2lib { ClothoidCurve C0 = m_clotoidList[i_begin]; // crea copia ClothoidCurve C1 = m_clotoidList[i_end]; // crea copia - // taglia il segmenti + // taglia il segmento C0.trim( s_begin-ss0, C0.length() ); // calcolo closest point @@ -1663,10 +1701,20 @@ namespace G2lib { s += s_begin; icurve = i_begin; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: first segment {} dst = {} res = {}\n", + i_begin, dst, res + ); + C1.trim( 0, s_end-ss1 ); res1 = C1.closestPoint_ISO( qx, qy, x1, y1, s1, t1, dst1 ); s1 += ss1; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: last segment {} dst = {} res = {}\n", + i_end, dst1, res1 + ); + if ( dst1 < dst ) { x = x1; y = y1; s = s1; t = t1; dst = dst1; res = res1; icurve = i_end; @@ -1680,7 +1728,11 @@ namespace G2lib { res1 = this->closestPointInRange_ISO( qx, qy, i_begin, i_end, x1, y1, s1, t1, dst1, icurve1 ); - if ( res < 0 || (res1 >= 0 && dst1 < dst) ) { + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: range [{},{}] dst = {} res = {}\n", + i_begin, i_end, dst1, res1 + ); + if ( dst1 < dst ) { x = x1; y = y1; s = s1; @@ -1688,6 +1740,9 @@ namespace G2lib { dst = dst1; res = res1; icurve = icurve1; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: new min at s = {}, res = {}\n", s, res + ); } } } diff --git a/src/Clothoids.hh b/src/Clothoids.hh index e4e51523..fc97201c 100644 --- a/src/Clothoids.hh +++ b/src/Clothoids.hh @@ -53,6 +53,16 @@ #include // shared_ptr #endif +#ifdef G2LIB_DEBUG + #define G2LIB_DEBUG_MESSAGE(...) std::cout << fmt::format(__VA_ARGS__) << std::flush +#else + #define G2LIB_DEBUG_MESSAGE(...) +#endif + +#ifndef GLIB2_TOL_ANGLE + #define GLIB2_TOL_ANGLE 1e-8 +#endif + namespace G2lib { typedef std::basic_istream istream_type; typedef std::basic_ostream ostream_type; diff --git a/src/Clothoids/Biarc.hxx b/src/Clothoids/Biarc.hxx index f2b0d890..3f45216e 100644 --- a/src/Clothoids/Biarc.hxx +++ b/src/Clothoids/Biarc.hxx @@ -62,7 +62,9 @@ namespace G2lib { ~Biarc() override {} - //! construct and empty biarc + //! + //! Construct and empty biarc + //! Biarc() : BaseCurve(G2LIB_BIARC) {} @@ -109,7 +111,7 @@ namespace G2lib { Biarc( BaseCurve const & C ); //! - //! Make a copy of an existing biarc + //! Make a copy of an existing biarc. //! void copy( Biarc const & c ) { @@ -117,17 +119,19 @@ namespace G2lib { m_C1.copy(c.m_C1); } - //! make a copy of an existing biarc + //! + //! Make a copy of an existing biarc. + //! Biarc const & operator = ( Biarc const & ba ) { copy(ba); return *this; } //! - //! Return the first circle arc of the biarc + //! Return the first circle arc of the biarc. //! CircleArc const & C0() const { return m_C0; } //! - //! Return the first circle arc of the biarc + //! Return the first circle arc of the biarc. //! CircleArc const & C1() const { return m_C1; } @@ -144,7 +148,6 @@ namespace G2lib { //! \param[in] theta1 \f$ \theta_1 \f$ //! \return false if biarc cannot be computed //! - //! bool build( real_type x0, @@ -157,6 +160,7 @@ namespace G2lib { //! //! Construct a biarc by 3 point at "minimum energy" + //! //! - Planar point set fairing and fitting by arc splines //! - Xunnian Yang and Guozhao Wang //! - Computer-Aided Design, vol 33, 2001 @@ -431,42 +435,42 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! Return the x-coordinate of the juction point of the biarc + //! Return the x-coordinate of the juction point of the biarc. //! real_type xMiddle() const { return m_C1.xBegin(); } //! - //! Return the y-coordinate of the juction point of the biarc + //! Return the y-coordinate of the juction point of the biarc. //! real_type yMiddle() const { return m_C1.yBegin(); } //! - //! Return the angle of the juction point of the biarc + //! Return the angle of the juction point of the biarc. //! real_type thetaMiddle() const { return m_C1.thetaBegin(); } //! - //! Return the curvature of the first arc of the biarc + //! Return the curvature of the first arc of the biarc. //! real_type kappa0() const { return m_C0.curvature(); } //! - //! Intial angle of the biarc + //! Intial angle of the biarc. //! real_type length0() const { return m_C0.length(); } //! - //! Return the curvature of the first arc of the biarc + //! Return the curvature of the first arc of the biarc. //! real_type kappa1() const { return m_C1.curvature(); } //! - //! Final angle of the biarc + //! Final angle of the biarc. //! real_type length1() const { return m_C1.length(); } //! - //! Change of the angle of the biarc (\f$ \theta_1-\theta_0 \f$ ) + //! Change of the angle of the biarc (\f$ \theta_1-\theta_0 \f$). //! real_type delta_theta() const { return m_C0.delta_theta() + m_C1.delta_theta(); } @@ -514,7 +518,7 @@ namespace G2lib { \*/ //! - //! Detect a collision with another biarc + //! Detect a collision with another biarc. //! bool collision( Biarc const & B ) const { @@ -523,7 +527,7 @@ namespace G2lib { } //! - //! Detect a collision with another biarc with offset + //! Detect a collision with another biarc with offset. //! //! \param[in] offs offset of first biarc //! \param[in] B second biarc @@ -550,9 +554,9 @@ namespace G2lib { \*/ //! - //! Intersect a biarc with another biarc + //! Intersect a biarc with another biarc. //! - //! \param[in] B second biarc + //! \param[in] B second biarc //! \param[out] ilist list of the intersection (as parameter on the curves) //! \param[in] swap_s_vals if true store `(s2,s1)` instead of `(s1,s2)` for each //! intersection @@ -565,7 +569,7 @@ namespace G2lib { ) const; //! - //! Intersect a biarc with another biarc with offset (ISO) + //! Intersect a biarc with another biarc with offset (ISO). //! //! \param[in] offs offset of first biarc //! \param[in] B second biarc @@ -588,7 +592,7 @@ namespace G2lib { { stream << "BiArc\n" << *this << '\n'; } //! - //! Pretty print of the biarc + //! Pretty print of the biarc. //! friend ostream_type & @@ -599,8 +603,8 @@ namespace G2lib { // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //! - //! Given a list of points \f$ (x_i,y_i) \f$ build a guess of angles - //! for a spline of biarc + //! Given a list of points \f$ (x_i,y_i) \f$ + //! build a guess of angles for a spline of biarc. //! //! \param[in] n number of points //! \param[in] x x-coordinates diff --git a/src/Clothoids/BiarcList.hxx b/src/Clothoids/BiarcList.hxx index f7651532..902a3b2b 100644 --- a/src/Clothoids/BiarcList.hxx +++ b/src/Clothoids/BiarcList.hxx @@ -98,12 +98,23 @@ namespace G2lib { lastInterval = 0; } + int_type + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & dst + ) const; + public: #include "BaseCurve_using.hxx" //! - //! Build an empty biarc spline + //! Build an empty biarc spline. //! BiarcList() : BaseCurve(G2LIB_BIARC_LIST) @@ -117,7 +128,7 @@ namespace G2lib { } //! - //! Build a copy of another biarc spline + //! Build a copy of another biarc spline. //! BiarcList( BiarcList const & s ) : BaseCurve(G2LIB_BIARC_LIST) @@ -125,66 +136,71 @@ namespace G2lib { { this->resetLastInterval(); copy(s); } //! - //! Empty the the biarc list + //! Empty the the biarc list. //! void init(); //! - //! Reserve memory for `n` biarcs + //! Reserve memory for `n` biarcs. //! void reserve( int_type n ); //! - //! Copy another biarc spline + //! Copy another biarc spline. //! void copy( BiarcList const & L ); - //! copy another biarc spline + //! + //! Copy another biarc spline. + //! BiarcList const & operator = ( BiarcList const & s ) { copy(s); return *this; } //! - //! Build a biarc list from a line segment + //! Build a biarc list from a line segment. //! explicit BiarcList( LineSegment const & LS ); //! - //! Build a biarc list from a single circle arc + //! Build a biarc list from a single circle arc. //! explicit BiarcList( CircleArc const & C ); //! - //! Build a biarc list from a single biarc + //! Build a biarc list from a single biarc. //! explicit BiarcList( Biarc const & C ); //! - //! Build a biarc list from a single polyline + //! Build a biarc list from a single polyline. //! explicit BiarcList( PolyLine const & pl ); //! - //! Build a biarc list from another curve + //! Build a biarc list from another curve. //! explicit BiarcList( BaseCurve const & C ); //! - //! Append a line segment to the biarc list (transformed to a degenerate biarc) + //! Append a line segment to the biarc list + //! (transformed to a degenerate biarc). //! void push_back( LineSegment const & c ); //! - //! Append a line circle to the biarc list (transformed to a degenerate biarc) + //! Append a line circle to the biarc + //! list (transformed to a degenerate biarc). //! void push_back( CircleArc const & c ); //! - //! Append a biarc to the biarc list + //! Append a biarc to the biarc list. //! void push_back( Biarc const & c ); //! - //! Append a polyline to the biarc list (transformed to a list of degenerate biarc) + //! Append a polyline to the biarc list + //! (transformed to a list of degenerate biarc). //! void push_back( PolyLine const & c ); @@ -236,7 +252,7 @@ namespace G2lib { //! //! Construct a biarc list passing to the points \f$ (x_i,y_i) \f$ - //! with angles \f$ \theta_i \f$ + //! with angles \f$ \theta_i \f$. //! //! \param[in] n number of points //! \param[in] x x-coordinates @@ -252,22 +268,23 @@ namespace G2lib { ); //! - //! Get the `idx`-th biarc + //! Get the `idx`-th biarc. //! Biarc const & get( int_type idx ) const; //! - //! Get the biarc that contain the curvilinear coordinate `s` + //! Get the biarc that contain the curvilinear coordinate `s`. //! Biarc const & getAtS( real_type s ) const; //! - //! Return the number of biarc in the biarc list + //! Return the number of biarc in the biarc list. //! int_type numSegments() const { return int_type(m_biarcList.size()); } //! - //! Get the of the biarc that contain the curvilinear coordinate `s` + //! Get the of the biarc that contain + //! the curvilinear coordinate `s`. //! int_type findAtS( real_type & s ) const; @@ -277,13 +294,13 @@ namespace G2lib { real_type length_ISO( real_type offs ) const override; //! - //! The length of the `nseg`-th biarc + //! The length of the `nseg`-th biarc. //! real_type segment_length( int_type nseg ) const; //! - //! The length of the `nseg`-th biarc with offset `offs` + //! The length of the `nseg`-th biarc with offset `offs`. //! real_type segment_length_ISO( int_type nseg, real_type offs ) const; @@ -693,13 +710,12 @@ namespace G2lib { operator << ( ostream_type & stream, BiarcList const & CL ); //! - //! Return the biarc as a list of nodes angles and curvatures + //! Return the biarc as a list of nodes angles and curvatures. //! //! \param[out] s nodes //! \param[out] theta angles //! \param[out] kappa curvature //! - //! void getSTK( real_type * s, @@ -713,7 +729,6 @@ namespace G2lib { //! \param[out] x x-nodes //! \param[out] y y-nodes //! - //! void getXY( real_type * x, real_type * y ) const; @@ -727,7 +742,6 @@ namespace G2lib { //! \return idx the segment with point at minimal distance, otherwise //! -(idx+1) if (x,y) cannot be projected orthogonally on the segment //! - //! int_type findST1( real_type x, @@ -766,12 +780,14 @@ namespace G2lib { | \___\___/|_|_|_|___/_|\___/|_| |_| \*/ - //! detect a collision with another biarc list + //! + //! Detect a collision with another biarc list. + //! bool collision( BiarcList const & C ) const; //! - //! Detect a collision with another biarc list with offset + //! Detect a collision with another biarc list with offset. //! //! \param[in] offs offset of first biarc //! \param[in] CL second biarc @@ -810,7 +826,7 @@ namespace G2lib { } //! - //! Intersect a biarc list with another biarc list with offset (ISO) + //! Intersect a biarc list with another biarc list with offset (ISO). //! //! \param[in] offs offset of first biarc //! \param[in] CL second biarc diff --git a/src/Clothoids/Circle.hxx b/src/Clothoids/Circle.hxx index 7681c7b3..6b0c7a45 100644 --- a/src/Clothoids/Circle.hxx +++ b/src/Clothoids/Circle.hxx @@ -66,14 +66,14 @@ namespace G2lib { {} //! - //! Build a copy of an existing circle arc + //! Build a copy of an existing circle arc. //! CircleArc( CircleArc const & s ) : BaseCurve(G2LIB_CIRCLE) { copy(s); } //! - //! Construct a circle arc with the standard parameters + //! Construct a circle arc with the standard parameters. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -81,7 +81,6 @@ namespace G2lib { //! \param[in] k curvature //! \param[in] L length //! - //! explicit CircleArc( real_type x0, @@ -100,7 +99,10 @@ namespace G2lib { , m_L(L) {} - //! construct a circle arc from a line segment (degenerate circle) + //! + //! Construct a circle arc from a line + //! segment (degenerate circle). + //! explicit CircleArc( LineSegment const & LS ) : BaseCurve(G2LIB_CIRCLE) @@ -114,7 +116,7 @@ namespace G2lib { {} //! - //! make a copy of an existing circle arc + //! Make a copy of an existing circle arc. //! void copy( CircleArc const & c ) { @@ -128,20 +130,20 @@ namespace G2lib { } //! - //! Build a circle arc from a generic curve (if possibile) + //! Build a circle arc from a generic curve (if possibile). //! explicit CircleArc( BaseCurve const & C ); //! - //! make a copy of an existing circle arc + //! Make a copy of an existing circle arc. //! CircleArc const & operator = ( CircleArc const & s ) { copy(s); return *this; } //! - //! Construct a circle arc with the standard parameters + //! Construct a circle arc with the standard parameters. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -165,7 +167,7 @@ namespace G2lib { } //! - //! Build a circle by solving the hermite G1 problem + //! Build a circle by solving the hermite G1 problem. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -184,7 +186,7 @@ namespace G2lib { ); //! - //! Build a circle passing by 3 points + //! Build a circle passing by 3 points. //! //! \param[in] x0 starting point x-coordinate //! \param[in] y0 starting point y-coordinate @@ -207,7 +209,7 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! Get the bounding box triangle (if angle variation less that pi/3) + //! Get the bounding box triangle (if angle variation less that pi/3). //! //! \param[out] x0 first triangle point x-coordinate //! \param[out] y0 first triangle point y-coordinate @@ -226,7 +228,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] x0 first triangle point x-coordinate @@ -247,7 +249,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! if angle variation less that \f$ \pi/3 \f$) + //! if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] x0 first triangle point x-coordinate @@ -270,7 +272,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[out] p0 first triangle point //! \param[out] p1 second triangle point @@ -288,7 +290,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] p0 first triangle point @@ -308,7 +310,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] p0 first triangle point @@ -327,7 +329,7 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc + //! Get the bounding box triangle list of the circle arc. //! //! \param[out] t the bounding triangle //! \param[in] ss0 `s0` stored in the triangle class @@ -349,7 +351,8 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list + //! of the circle arc with offset. //! //! \param[in] offs offset //! \param[out] t the bounding triangle @@ -373,7 +376,8 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of + //! the circle arc with offset. //! //! \param[in] offs offset //! \param[out] t the bounding triangle @@ -394,7 +398,7 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of the circle arc with offset. //! //! \param[out] tvec the bounding triangle list //! \param[in] max_angle maximum angle variation admitted for all splitted segment @@ -410,7 +414,7 @@ namespace G2lib { ) const override; // 10 degree //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of the circle arc with offset. //! //! \param[in] offs offset //! \param[out] tvec the bounding triangle list @@ -428,7 +432,7 @@ namespace G2lib { ) const override; // 10 degree //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of the circle arc with offset. //! //! \param[in] offs offset //! \param[out] tvec the bounding triangle list @@ -669,12 +673,14 @@ namespace G2lib { | \___\___/|_|_|_|___/_|\___/|_| |_| \*/ - //! detect a collision with another circle arc + //! + //! Detect a collision with another circle arc. + //! bool collision( CircleArc const & ) const; //! - //! Detect a collision with another circle arc with offset + //! Detect a collision with another circle arc with offset. //! //! \param[in] offs offset of first circle arc //! \param[in] C second circle arc @@ -696,7 +702,7 @@ namespace G2lib { \*/ //! - //! Intersect a circle arc with another circle arc + //! Intersect a circle arc with another circle arc. //! //! \param[in] obj second biarc //! \param[out] ilist list of the intersection (as parameter on the curves) @@ -711,7 +717,7 @@ namespace G2lib { ) const; //! - //! Intersect a circle arc with another circle arc with offset (ISO) + //! Intersect a circle arc with another circle arc with offset (ISO). //! //! \param[in] offs offset of first circle arc //! \param[in] C second circle arc @@ -730,37 +736,41 @@ namespace G2lib { ) const; //! - //! Return \f$ \sin \theta_0 \f$ where \f$ \theta_0 \f$ is the initial tangent angle + //! Return \f$ \sin \theta_0 \f$ where + //! \f$ \theta_0 \f$ is the initial tangent angle. //! real_type sinTheta0() const { return sin(m_theta0); } //! - //! Return \f$ \cos \theta_0 \f$ where \f$ \theta_0 \f$ is the initial tangent angle + //! Return \f$ \cos \theta_0 \f$ where + //! \f$ \theta_0 \f$ is the initial tangent angle. //! real_type cosTheta0() const { return cos(m_theta0); } //! - //! Return curvature of the circle arc + //! Return curvature of the circle arc. //! real_type curvature() const { return m_k; } //! - //! Return the length of the arc that can approximated by a line segment + //! Return the length of the arc that + //! can approximated by a line segment. //! real_type lenTolerance( real_type tol ) const; //! - //! Return the tangent angle variation in the circle arc + //! Return the tangent angle variation in the circle arc. //! real_type delta_theta() const { return m_L*m_k; } //! - //! Return the absolute value of the tangent angle variation in the circle arc + //! Return the absolute value of the tangent + //! angle variation in the circle arc. //! real_type thetaTotalVariation() const { return std::abs(m_L*m_k); } //! - //! Minimum and maximum tangent angle + //! Minimum and maximum tangent angle. //! //! \param[out] thMin mimimum tangent angle //! \param[out] thMax maximum tangent angle @@ -770,7 +780,7 @@ namespace G2lib { thetaMinMax( real_type & thMin, real_type & thMax ) const; //! - //! Minimum and maximum tangent angle + //! Minimum and maximum tangent angle. //! //! \param[out] thMin mimimum tangent angle //! \param[out] thMax maximum tangent angle @@ -782,7 +792,7 @@ namespace G2lib { //! //! Change the origin of the circle arc at \f$ s_0 \f$ - //! and the length of the arc to \f$ L \f$ + //! and the length of the arc to \f$ L \f$. //! //! \param[in] s0 \f$ s_0 \f$ //! \param[in] newL \f$ L \f$ @@ -791,7 +801,7 @@ namespace G2lib { changeCurvilinearOrigin( real_type s0, real_type newL ); //! - //! Get the center of the circle arc \f$ (c_x,c_y) \f$ + //! Get the center of the circle arc \f$ (c_x,c_y) \f$. //! //! \param[in] cx \f$ c_x \f$ //! \param[in] cy \f$ c_y \f$ @@ -800,7 +810,7 @@ namespace G2lib { center( real_type & cx, real_type & cy ) const; //! - //! Get the ray of the circle arc + //! Get the ray of the circle arc. //! real_type ray() const { return 1/std::abs(m_k); } @@ -813,7 +823,7 @@ namespace G2lib { \*/ //! - //! Get the parameters to build a NURBS for the circle ars + //! Get the parameters to build a NURBS for the circle ars. //! //! \param[out] n_knots number of knots for the NURBS //! \param[out] n_pnts number of point of the polygon of the NURBS @@ -822,7 +832,7 @@ namespace G2lib { paramNURBS( int_type & n_knots, int_type & n_pnts ) const; //! - //! Get the parameters to build a NURBS for the circle ars + //! Get the parameters to build a NURBS for the circle ars. //! //! \param[out] knots vector of the knots //! \param[out] Poly points of the polygon of the NURBS @@ -831,7 +841,7 @@ namespace G2lib { toNURBS( real_type * knots, real_type Poly[][3] ) const; //! - //! pretty print circle arc + //! Pretty print circle arc. //! friend ostream_type & diff --git a/src/Clothoids/Clothoid.hxx b/src/Clothoids/Clothoid.hxx index b5f7763a..658832e2 100644 --- a/src/Clothoids/Clothoid.hxx +++ b/src/Clothoids/Clothoid.hxx @@ -80,7 +80,7 @@ namespace G2lib { ) const; void - closestPoint_internal_ISO( + closestPoint_internal( real_type s_begin, real_type s_end, real_type qx, @@ -92,6 +92,17 @@ namespace G2lib { real_type & dst ) const; + void + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & dst + ) const; + static int_type m_max_iter; static real_type m_tolerance; @@ -190,7 +201,7 @@ namespace G2lib { { copy(s); } //! - //! Construct a clothoid with the standard parameters + //! Construct a clothoid with the standard parameters. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -199,7 +210,6 @@ namespace G2lib { //! \param[in] dk curvature derivative //! \param[in] L length //! - //! explicit ClothoidCurve( real_type x0, @@ -221,7 +231,7 @@ namespace G2lib { } //! - //! Construct a clothoid \f$ \G(s) \f$ solving the G1 problem + //! Construct a clothoid \f$ \G(s) \f$ solving the G1 problem. //! //! \f[ //! \begin{cases} @@ -237,7 +247,6 @@ namespace G2lib { //! \param[in] P1 final point \f$ \mathbf{p}_1 \f$ //! \param[in] theta1 final angle \f$ \theta_1 \f$ //! - //! explicit ClothoidCurve( real_type const * P0, @@ -252,7 +261,7 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing one + //! Build a clothoid copying an existing one. //! void copy( ClothoidCurve const & c ) { @@ -263,7 +272,7 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing line segment + //! Build a clothoid copying an existing line segment. //! explicit ClothoidCurve( LineSegment const & LS ) @@ -279,7 +288,7 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing circle arc + //! Build a clothoid copying an existing circle arc. //! explicit ClothoidCurve( CircleArc const & C ) @@ -295,12 +304,14 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing curve + //! Build a clothoid copying an existing curve. //! explicit ClothoidCurve( BaseCurve const & C ); - //! copy an existing clothoid + //! + //! Copy an existing clothoid. + //! ClothoidCurve const & operator = ( ClothoidCurve const & s ) { copy(s); return *this; } @@ -320,7 +331,6 @@ namespace G2lib { //! \param[in] dk curvature derivative //! \param[in] L length //! - //! void build( real_type x0, @@ -332,7 +342,7 @@ namespace G2lib { ); //! - //! Build a clothoid by solving the hermite G1 problem + //! Build a clothoid by solving the hermite G1 problem. //! //! \param[in] x0 initial x position \f$ x_0 \f$ //! \param[in] y0 initial y position \f$ y_0 \f$ @@ -359,7 +369,7 @@ namespace G2lib { } //! - //! Build a clothoid by solving the hermite G1 problem + //! Build a clothoid by solving the hermite G1 problem. //! //! \param[in] x0 initial x position \f$ x_0 \f$ //! \param[in] y0 initial y position \f$ y_0 \f$ @@ -394,7 +404,7 @@ namespace G2lib { } //! - //! Build a clothoid by solving the forward problem + //! Build a clothoid by solving the forward problem. //! //! \param[in] x0 initial x position \f$ x_0 \f$ //! \param[in] y0 initial y position \f$ y_0 \f$ @@ -420,7 +430,7 @@ namespace G2lib { } //! - //! Build a clothoid from a line segment + //! Build a clothoid from a line segment. //! void build( LineSegment const & LS ) { @@ -435,7 +445,7 @@ namespace G2lib { } //! - //! Build a clothoid from a circle arc + //! Build a clothoid from a circle arc. //! void build( CircleArc const & C ) { @@ -450,12 +460,12 @@ namespace G2lib { } //! - //! Return the point at infinity of the clothoids \f$ P(s) \f$ + //! Return the point at infinity of the clothoids \f$ P(s) \f$. //! - //! \param[out] x x-coordinate of the infinity point - //! \param[out] y y-coordinate of the infinity point - //! \param[out] plus it true return \f$ \lim_{s\to+\infty} P(s) \f$ - //! otherwise return \f$ \lim_{s\to-\infty} P(s) \f$ + //! \param[out] x x-coordinate of the infinity point + //! \param[out] y y-coordinate of the infinity point + //! \param[out] plus it true return \f$ \lim_{s\to+\infty} P(s) \f$ + //! otherwise return \f$ \lim_{s\to-\infty} P(s) \f$ //! //! \rst //! @@ -465,72 +475,70 @@ namespace G2lib { //! //! \endrst //! - //! void Pinfinity( real_type & x, real_type & y, bool plus = true ) const { m_CD.Pinfinity( x, y, plus ); } - //! derivative of the curvature of the clothoid + //! + //! Derivative of the curvature of the clothoid. + //! real_type dkappa() const { return m_CD.dk; } //! - //! clothoid curve total variation of the angle + //! Clothoid curve total variation of the angle. //! real_type thetaTotalVariation() const; //! - //! max and min angle of the curve + //! Max and min angle of the curve. //! real_type thetaMinMax( real_type & thMin, real_type & thMax ) const; //! - //! clothoid angle range + //! Clothoid angle range. //! real_type deltaTheta() const { real_type thMin, thMax; return thetaMinMax( thMin, thMax ); } //! - //! max and min of the curvatire of the clothoid curve + //! Max and min of the curvatire of the clothoid curve. //! real_type curvatureMinMax( real_type & kMin, real_type & kMax ) const; //! - //! clothoid total curvature variation + //! Clothoid total curvature variation. //! real_type curvatureTotalVariation() const; //! - //! Given the clothoid curve \f$ P(s) \f$ compute - //! - //! \f[ - //! \int_0^L |P''(s)|^2 \mathrm{d}s - //! \f] + //! Given the clothoid curve \f$ P(s) \f$ compute. //! + //! \f[ + //! \int_0^L |P''(s)|^2 \mathrm{d}s + //! \f] //! real_type integralCurvature2() const; //! - //! Given the clothoid curve \f$ P(s) \f$ compute + //! Given the clothoid curve \f$ P(s) \f$ compute. //! //! \f[ //! \int_0^L |P'''(s)|^2 \mathrm{d}s //! \f] //! - //! real_type integralJerk2() const; //! - //! Given the clothoid curve \f$ P(s) \f$ compute + //! Given the clothoid curve \f$ P(s) \f$ compute. //! //! \f[ //! \int_0^L |P''''(s)|^2 \mathrm{d}s //! \f] //! - //! real_type integralSnap2() const; //! @@ -588,7 +596,6 @@ namespace G2lib { //! \param S curvilinear coordinate of the point (X,Y) on the clothoid //! \return the distance of the point from the clothoid //! - //! real_type closestPointBySample( real_type ds, @@ -609,7 +616,6 @@ namespace G2lib { //! \param S curvilinear coordinate of the point (X,Y) on the clothoid //! \return the distance of the point from the clothoid //! - //! real_type distanceBySample( real_type ds, @@ -630,7 +636,6 @@ namespace G2lib { //! \param qy y-coordinate of the given point //! \return the distance of the point from the clothoid //! - //! real_type distanceBySample( real_type ds, @@ -650,7 +655,8 @@ namespace G2lib { \*/ //! - //! get the triangle bounding box (if angle variation less that pi/2) + //! Get the triangle bounding box + //! (if angle variation less that \f$ \pi/2 \f$ ) //! bool bbTriangle( @@ -662,7 +668,8 @@ namespace G2lib { } //! - //! get the triangle bounding box (if angle variation less that pi/2) + //! Get the triangle bounding box + //! (if angle variation less that \f$ \pi/2 \f$) //! bool bbTriangle_ISO( @@ -675,7 +682,8 @@ namespace G2lib { } //! - //! get the triangle bounding box (if angle variation less that pi/2) + //! Get the triangle bounding box + //! (if angle variation less that \f$ \pi/2 \f$) //! bool bbTriangle_SAE( @@ -841,7 +849,7 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! get clothoid angle at curvilinear cooordinate `s` + //! Get clothoid angle at curvilinear cooordinate `s`. //! //! \param s curvilinear cooordinate //! \return angle (radiant) at curvilinear cooordinate `s` @@ -851,7 +859,8 @@ namespace G2lib { { return m_CD.theta(s); } //! - //! get clothoid angle derivative (=curvature) at curvilinear cooordinate `s` + //! Get clothoid angle derivative (=curvature) + //! at curvilinear cooordinate `s`. //! //! \param s curvilinear cooordinate //! \return angle derivative (radiant/s) at curvilinear cooordinate `s` @@ -861,7 +870,8 @@ namespace G2lib { { return m_CD.kappa(s); } //! - //! Get clothoid angle second derivative at curvilinear cooordinate `s` + //! Get clothoid angle second derivative + //! at curvilinear cooordinate `s`. //! //! \return angle second derivative (radiant/s^2) at curvilinear cooordinate `s` //! @@ -870,7 +880,8 @@ namespace G2lib { { return m_CD.dk; } //! - //! Get clothoid angle third derivative at curvilinear cooordinate `s` + //! Get clothoid angle third derivative + //! at curvilinear cooordinate `s`. //! //! \return angle third derivative (radiant/s^3) at curvilinear cooordinate `s` //! @@ -895,7 +906,8 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! Clothoid X coordinate at curvilinear coordinate `s` + //! Clothoid X coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \return clothoid X coordinate //! @@ -916,7 +928,8 @@ namespace G2lib { { return m_CD.X_DDD(s); } //! - //! Clothoid Y coordinate at curvilinear coordinate `s` + //! Clothoid Y coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \return clothoid Y coordinate //! @@ -937,7 +950,8 @@ namespace G2lib { { return m_CD.Y_DDD(s); } //! - //! Clothoid X coordinate at curvilinear coordinate `s` + //! Clothoid X coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \param offs lateral offset //! \return clothoid X coordinate @@ -959,7 +973,8 @@ namespace G2lib { { return m_CD.X_ISO_DDD(s,offs); } //! - //! Clothoid Y coordinate at curvilinear coordinate `s` + //! Clothoid Y coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \param offs lateral offset //! \return clothoid Y coordinate @@ -1089,7 +1104,7 @@ namespace G2lib { //! //! change the origin of the clothoid at \f$ s_0 \f$ - //! and the length to \f$ L \f$ + //! and the length to \f$ L \f$. //! //! \param[in] s0 \f$ s_0 \f$ //! \param[in] newL \f$ L \f$ diff --git a/src/Clothoids/ClothoidList.hxx b/src/Clothoids/ClothoidList.hxx index d6f0e729..9130a0bc 100644 --- a/src/Clothoids/ClothoidList.hxx +++ b/src/Clothoids/ClothoidList.hxx @@ -877,6 +877,17 @@ namespace G2lib { lastInterval = 0; } + int_type + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & DST + ) const; + public: #include "BaseCurve_using.hxx" diff --git a/src/G2lib_intersect.cc b/src/G2lib_intersect.cc index ca225f7d..54a35961 100644 --- a/src/G2lib_intersect.cc +++ b/src/G2lib_intersect.cc @@ -162,14 +162,12 @@ namespace G2lib { bool collision( BaseCurve const & obj1, BaseCurve const & obj2 ) { - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "collision {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif bool ok = false; switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { @@ -239,14 +237,12 @@ namespace G2lib { init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "collision (offs) {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif bool ok = false; switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { @@ -315,14 +311,12 @@ namespace G2lib { init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "intersect {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { case G2LIB_LINE: @@ -392,14 +386,12 @@ namespace G2lib { init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "intersect (offs) {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { case G2LIB_LINE: diff --git a/submodules/Utils b/submodules/Utils index d7b63e0b..5edfef1e 160000 --- a/submodules/Utils +++ b/submodules/Utils @@ -1 +1 @@ -Subproject commit d7b63e0beb0b517f3405989ba8d22ee9bf7fb57f +Subproject commit 5edfef1e4e545da9154093a61d7e494f8e92f261 diff --git a/toolbox/CompileClothoidsLib.m b/toolbox/CompileClothoidsLib.m index c0f13b95..edb0f1e9 100644 --- a/toolbox/CompileClothoidsLib.m +++ b/toolbox/CompileClothoidsLib.m @@ -57,11 +57,14 @@ }; MROOT = matlabroot; +%DEFS = '-DG2LIB_DEBUG '; +DEFS = ' '; -CMDBASE = 'mex -c -largeArrayDims -Isrc -Isrc/Utils '; +CMDBASE = [ 'mex -c -largeArrayDims -Isrc -Isrc/Utils ', DEFS]; if isunix CMDBASE = [CMDBASE, 'CXXFLAGS="\$CXXFLAGS -Wall -O2 -g" ']; elseif ispc + CMDBASE = [CMDBASE, 'COMPFLAGS="\$COMPFLAGS -O2" ']; end LIB_OBJS = ''; @@ -87,7 +90,7 @@ CMD = [ 'while mislocked(''' N '''); munlock(''' N '''); end;']; eval(CMD); - CMD = [ 'mex -Isrc -output bin/', N ]; + CMD = [ 'mex ', DEFS, ' -Isrc -output bin/', N ]; CMD = [ CMD, ' -largeArrayDims src_mex/mex_', N ]; CMD = [ CMD, '.cc ', LIB_OBJS ]; @@ -105,6 +108,7 @@ ' LINKLIBS="-ldl -L\$MATLABROOT/bin/\$ARCH -L\$MATLABROOT/extern/bin/\$ARCH -lMatlabDataArray -lmx -lmex -lmat -lm "' ... ]; elseif ispc + CMD = [CMD, 'COMPFLAGS="\$COMPFLAGS -O2" ']; end disp(CMD); diff --git a/toolbox/src/BiarcList.cc b/toolbox/src/BiarcList.cc index 18880228..368fe082 100644 --- a/toolbox/src/BiarcList.cc +++ b/toolbox/src/BiarcList.cc @@ -1165,14 +1165,13 @@ namespace G2lib { \*/ int_type - BiarcList::closestPoint_ISO( + BiarcList::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { @@ -1193,8 +1192,8 @@ namespace G2lib { real_type dst = T.distMin( qx, qy ); if ( dst < DST ) { // refine distance - real_type xx, yy, ss; - m_biarcList[T.Icurve()].closestPoint_ISO( qx, qy, offs, xx, yy, ss, dst ); + real_type xx, yy, ss, tt; + m_biarcList[T.Icurve()].closestPoint_ISO( qx, qy, offs, xx, yy, ss, tt, dst ); if ( dst < DST ) { DST = dst; s = ss + m_s0[T.Icurve()]; @@ -1204,14 +1203,36 @@ namespace G2lib { } } } + return icurve; + } + int_type + BiarcList::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + int_type icurve = this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; m_biarcList[icurve].nor_ISO( s - m_s0[icurve], nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -(icurve+1); - return icurve; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "BiarcList::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -(icurve+1) : icurve; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/toolbox/src/Clothoid.cc b/toolbox/src/Clothoid.cc index 2408db20..b9261497 100644 --- a/toolbox/src/Clothoid.cc +++ b/toolbox/src/Clothoid.cc @@ -559,7 +559,7 @@ namespace G2lib { \*/ void - ClothoidCurve::closestPoint_internal_ISO( + ClothoidCurve::closestPoint_internal( real_type s_begin, real_type s_end, real_type qx, @@ -618,15 +618,14 @@ namespace G2lib { // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - int_type - ClothoidCurve::closestPoint_ISO( + void + ClothoidCurve::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { DST = numeric_limits::infinity(); @@ -646,7 +645,7 @@ namespace G2lib { if ( dst < DST ) { // refine distance real_type xx, yy, ss; - closestPoint_internal_ISO( + closestPoint_internal( T.S0(), T.S1(), qx, qy, offs, xx, yy, ss, dst ); if ( dst < DST ) { @@ -657,13 +656,37 @@ namespace G2lib { } } } + } + + // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + int_type + ClothoidCurve::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; nor_ISO( s, nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -1; - return 1; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "Clothoid::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -1 : 1; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/toolbox/src/ClothoidDistance.cc b/toolbox/src/ClothoidDistance.cc index 693948cf..37ed8dbe 100644 --- a/toolbox/src/ClothoidDistance.cc +++ b/toolbox/src/ClothoidDistance.cc @@ -535,14 +535,18 @@ namespace G2lib { dst = d0; } } + // check if projection is orthogonal real_type nx, ny; nor_ISO( S, nx, ny ); - real_type dx = qx-X; - real_type dy = qy-Y; - T = dx * nx + dy * ny; - real_type tol = (dst > 1 ? dst*machepsi1000 : machepsi1000); - if ( abs(abs(T)-dst) < tol ) return 1; - return -1; + real_type qxx = qx - X; + real_type qyy = qy - Y; + T = qxx * nx + qyy * ny; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "ClothoidCurve::closestPoint_ISO: ||P-P0|| = {}, |(P-P0).T| = {}\n", + dst, pt + ); + return pt > GLIB2_TOL_ANGLE*dst ? -1 : 1; } /* diff --git a/toolbox/src/ClothoidList.cc b/toolbox/src/ClothoidList.cc index 64ed3787..de1a6a05 100644 --- a/toolbox/src/ClothoidList.cc +++ b/toolbox/src/ClothoidList.cc @@ -1444,14 +1444,13 @@ namespace G2lib { \*/ int_type - ClothoidList::closestPoint_ISO( + ClothoidList::closestPoint_internal( real_type qx, real_type qy, real_type offs, real_type & x, real_type & y, real_type & s, - real_type & t, real_type & DST ) const { @@ -1472,7 +1471,7 @@ namespace G2lib { if ( dst < DST ) { // refine distance real_type xx, yy, ss; - m_clotoidList[T.Icurve()].closestPoint_internal_ISO( + m_clotoidList[T.Icurve()].closestPoint_internal( T.S0(), T.S1(), qx, qy, offs, xx, yy, ss, dst ); if ( dst < DST ) { @@ -1484,14 +1483,38 @@ namespace G2lib { } } } + return icurve; + } + // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + int_type + ClothoidList::closestPoint_ISO( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & t, + real_type & DST + ) const { + + int_type icurve = this->closestPoint_internal( qx, qy, offs, x, y, s, DST ); + + // check if projection is orthogonal real_type nx, ny; m_clotoidList[icurve].nor_ISO( s - m_s0[icurve], nx, ny ); - t = (qx-x) * nx + (qy-y) * ny - offs; - real_type err = abs( abs(t) - DST ); - real_type tol = (DST > 1 ? DST*machepsi1000 : machepsi1000); - if ( err > tol ) return -(icurve+1); - return icurve; + real_type qxx = qx - x; + real_type qyy = qy - y; + t = qxx * nx + qyy * ny - offs; // signed distance + real_type pt = abs(qxx * ny - qyy * nx); + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPoint_ISO\n" + "||P-P0|| = {} and {}, |(P-P0).T| = {}\n", + DST, hypot(qxx,qyy), pt + ); + return pt > GLIB2_TOL_ANGLE*hypot(qxx,qyy) ? -(icurve+1) : icurve; } // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -1536,7 +1559,7 @@ namespace G2lib { if ( dst < DST ) { // refine distance real_type xx, yy, ss; - m_clotoidList[T.Icurve()].closestPoint_internal_ISO( + m_clotoidList[T.Icurve()].closestPoint_internal( T.S0(), T.S1(), qx, qy, 0, xx, yy, ss, dst ); if ( dst < DST ) { @@ -1568,7 +1591,7 @@ namespace G2lib { "ClothoidList::closestPointInRange_ISO, empty list\n" ); int_type nsegs = this->numSegments(); - if ( nsegs == 1 ) { + if ( nsegs == 1 ) { // only 1 segment to check icurve = 0; int_type res = m_clotoidList.front().closestPoint_ISO( qx, qy, x, y, s, t, dst ); s += m_s0[0]; @@ -1589,21 +1612,36 @@ namespace G2lib { int_type res = m_clotoidList[icurve].closestPoint_ISO( qx, qy, x, y, s, t, dst ); s += m_s0[icurve]; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO\n" + "first segment #{} dst = {} res = {}\n", + icurve, dst, res + ); + if ( ib == ie ) return res; // only one segment to check int_type iseg = ib; do { if ( ++iseg >= nsegs ) iseg -= nsegs; // next segment real_type C_x, C_y, C_s, C_t, C_dst; - int_type C_res = m_clotoidList[iseg].closestPoint_ISO( qx, qy, C_x, C_y, C_s, C_t, C_dst ); - if ( res < 0 || (C_res >= 0 && C_dst < dst) ) { + int_type C_res = m_clotoidList[iseg].closestPoint_ISO( + qx, qy, C_x, C_y, C_s, C_t, C_dst + ); + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO: segment #{} dst = {} res = {}\n", + iseg, C_dst, C_res + ); + if ( C_dst < dst ) { dst = C_dst; x = C_x; y = C_y; - s = C_s+m_s0[iseg]; + s = C_s + m_s0[iseg]; t = C_t; icurve = iseg; res = C_res; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInRange_ISO, new min at s = {}, res = {}\n", s, res + ); } } while ( iseg != ie ); return res; @@ -1655,7 +1693,7 @@ namespace G2lib { ClothoidCurve C0 = m_clotoidList[i_begin]; // crea copia ClothoidCurve C1 = m_clotoidList[i_end]; // crea copia - // taglia il segmenti + // taglia il segmento C0.trim( s_begin-ss0, C0.length() ); // calcolo closest point @@ -1663,10 +1701,20 @@ namespace G2lib { s += s_begin; icurve = i_begin; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: first segment {} dst = {} res = {}\n", + i_begin, dst, res + ); + C1.trim( 0, s_end-ss1 ); res1 = C1.closestPoint_ISO( qx, qy, x1, y1, s1, t1, dst1 ); s1 += ss1; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: last segment {} dst = {} res = {}\n", + i_end, dst1, res1 + ); + if ( dst1 < dst ) { x = x1; y = y1; s = s1; t = t1; dst = dst1; res = res1; icurve = i_end; @@ -1680,7 +1728,11 @@ namespace G2lib { res1 = this->closestPointInRange_ISO( qx, qy, i_begin, i_end, x1, y1, s1, t1, dst1, icurve1 ); - if ( res < 0 || (res1 >= 0 && dst1 < dst) ) { + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: range [{},{}] dst = {} res = {}\n", + i_begin, i_end, dst1, res1 + ); + if ( dst1 < dst ) { x = x1; y = y1; s = s1; @@ -1688,6 +1740,9 @@ namespace G2lib { dst = dst1; res = res1; icurve = icurve1; + G2LIB_DEBUG_MESSAGE( + "ClothoidList::closestPointInSRange_ISO: new min at s = {}, res = {}\n", s, res + ); } } } diff --git a/toolbox/src/Clothoids.hh b/toolbox/src/Clothoids.hh index e4e51523..fc97201c 100644 --- a/toolbox/src/Clothoids.hh +++ b/toolbox/src/Clothoids.hh @@ -53,6 +53,16 @@ #include // shared_ptr #endif +#ifdef G2LIB_DEBUG + #define G2LIB_DEBUG_MESSAGE(...) std::cout << fmt::format(__VA_ARGS__) << std::flush +#else + #define G2LIB_DEBUG_MESSAGE(...) +#endif + +#ifndef GLIB2_TOL_ANGLE + #define GLIB2_TOL_ANGLE 1e-8 +#endif + namespace G2lib { typedef std::basic_istream istream_type; typedef std::basic_ostream ostream_type; diff --git a/toolbox/src/Clothoids/Biarc.hxx b/toolbox/src/Clothoids/Biarc.hxx index f2b0d890..3f45216e 100644 --- a/toolbox/src/Clothoids/Biarc.hxx +++ b/toolbox/src/Clothoids/Biarc.hxx @@ -62,7 +62,9 @@ namespace G2lib { ~Biarc() override {} - //! construct and empty biarc + //! + //! Construct and empty biarc + //! Biarc() : BaseCurve(G2LIB_BIARC) {} @@ -109,7 +111,7 @@ namespace G2lib { Biarc( BaseCurve const & C ); //! - //! Make a copy of an existing biarc + //! Make a copy of an existing biarc. //! void copy( Biarc const & c ) { @@ -117,17 +119,19 @@ namespace G2lib { m_C1.copy(c.m_C1); } - //! make a copy of an existing biarc + //! + //! Make a copy of an existing biarc. + //! Biarc const & operator = ( Biarc const & ba ) { copy(ba); return *this; } //! - //! Return the first circle arc of the biarc + //! Return the first circle arc of the biarc. //! CircleArc const & C0() const { return m_C0; } //! - //! Return the first circle arc of the biarc + //! Return the first circle arc of the biarc. //! CircleArc const & C1() const { return m_C1; } @@ -144,7 +148,6 @@ namespace G2lib { //! \param[in] theta1 \f$ \theta_1 \f$ //! \return false if biarc cannot be computed //! - //! bool build( real_type x0, @@ -157,6 +160,7 @@ namespace G2lib { //! //! Construct a biarc by 3 point at "minimum energy" + //! //! - Planar point set fairing and fitting by arc splines //! - Xunnian Yang and Guozhao Wang //! - Computer-Aided Design, vol 33, 2001 @@ -431,42 +435,42 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! Return the x-coordinate of the juction point of the biarc + //! Return the x-coordinate of the juction point of the biarc. //! real_type xMiddle() const { return m_C1.xBegin(); } //! - //! Return the y-coordinate of the juction point of the biarc + //! Return the y-coordinate of the juction point of the biarc. //! real_type yMiddle() const { return m_C1.yBegin(); } //! - //! Return the angle of the juction point of the biarc + //! Return the angle of the juction point of the biarc. //! real_type thetaMiddle() const { return m_C1.thetaBegin(); } //! - //! Return the curvature of the first arc of the biarc + //! Return the curvature of the first arc of the biarc. //! real_type kappa0() const { return m_C0.curvature(); } //! - //! Intial angle of the biarc + //! Intial angle of the biarc. //! real_type length0() const { return m_C0.length(); } //! - //! Return the curvature of the first arc of the biarc + //! Return the curvature of the first arc of the biarc. //! real_type kappa1() const { return m_C1.curvature(); } //! - //! Final angle of the biarc + //! Final angle of the biarc. //! real_type length1() const { return m_C1.length(); } //! - //! Change of the angle of the biarc (\f$ \theta_1-\theta_0 \f$ ) + //! Change of the angle of the biarc (\f$ \theta_1-\theta_0 \f$). //! real_type delta_theta() const { return m_C0.delta_theta() + m_C1.delta_theta(); } @@ -514,7 +518,7 @@ namespace G2lib { \*/ //! - //! Detect a collision with another biarc + //! Detect a collision with another biarc. //! bool collision( Biarc const & B ) const { @@ -523,7 +527,7 @@ namespace G2lib { } //! - //! Detect a collision with another biarc with offset + //! Detect a collision with another biarc with offset. //! //! \param[in] offs offset of first biarc //! \param[in] B second biarc @@ -550,9 +554,9 @@ namespace G2lib { \*/ //! - //! Intersect a biarc with another biarc + //! Intersect a biarc with another biarc. //! - //! \param[in] B second biarc + //! \param[in] B second biarc //! \param[out] ilist list of the intersection (as parameter on the curves) //! \param[in] swap_s_vals if true store `(s2,s1)` instead of `(s1,s2)` for each //! intersection @@ -565,7 +569,7 @@ namespace G2lib { ) const; //! - //! Intersect a biarc with another biarc with offset (ISO) + //! Intersect a biarc with another biarc with offset (ISO). //! //! \param[in] offs offset of first biarc //! \param[in] B second biarc @@ -588,7 +592,7 @@ namespace G2lib { { stream << "BiArc\n" << *this << '\n'; } //! - //! Pretty print of the biarc + //! Pretty print of the biarc. //! friend ostream_type & @@ -599,8 +603,8 @@ namespace G2lib { // - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - //! - //! Given a list of points \f$ (x_i,y_i) \f$ build a guess of angles - //! for a spline of biarc + //! Given a list of points \f$ (x_i,y_i) \f$ + //! build a guess of angles for a spline of biarc. //! //! \param[in] n number of points //! \param[in] x x-coordinates diff --git a/toolbox/src/Clothoids/BiarcList.hxx b/toolbox/src/Clothoids/BiarcList.hxx index f7651532..902a3b2b 100644 --- a/toolbox/src/Clothoids/BiarcList.hxx +++ b/toolbox/src/Clothoids/BiarcList.hxx @@ -98,12 +98,23 @@ namespace G2lib { lastInterval = 0; } + int_type + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & dst + ) const; + public: #include "BaseCurve_using.hxx" //! - //! Build an empty biarc spline + //! Build an empty biarc spline. //! BiarcList() : BaseCurve(G2LIB_BIARC_LIST) @@ -117,7 +128,7 @@ namespace G2lib { } //! - //! Build a copy of another biarc spline + //! Build a copy of another biarc spline. //! BiarcList( BiarcList const & s ) : BaseCurve(G2LIB_BIARC_LIST) @@ -125,66 +136,71 @@ namespace G2lib { { this->resetLastInterval(); copy(s); } //! - //! Empty the the biarc list + //! Empty the the biarc list. //! void init(); //! - //! Reserve memory for `n` biarcs + //! Reserve memory for `n` biarcs. //! void reserve( int_type n ); //! - //! Copy another biarc spline + //! Copy another biarc spline. //! void copy( BiarcList const & L ); - //! copy another biarc spline + //! + //! Copy another biarc spline. + //! BiarcList const & operator = ( BiarcList const & s ) { copy(s); return *this; } //! - //! Build a biarc list from a line segment + //! Build a biarc list from a line segment. //! explicit BiarcList( LineSegment const & LS ); //! - //! Build a biarc list from a single circle arc + //! Build a biarc list from a single circle arc. //! explicit BiarcList( CircleArc const & C ); //! - //! Build a biarc list from a single biarc + //! Build a biarc list from a single biarc. //! explicit BiarcList( Biarc const & C ); //! - //! Build a biarc list from a single polyline + //! Build a biarc list from a single polyline. //! explicit BiarcList( PolyLine const & pl ); //! - //! Build a biarc list from another curve + //! Build a biarc list from another curve. //! explicit BiarcList( BaseCurve const & C ); //! - //! Append a line segment to the biarc list (transformed to a degenerate biarc) + //! Append a line segment to the biarc list + //! (transformed to a degenerate biarc). //! void push_back( LineSegment const & c ); //! - //! Append a line circle to the biarc list (transformed to a degenerate biarc) + //! Append a line circle to the biarc + //! list (transformed to a degenerate biarc). //! void push_back( CircleArc const & c ); //! - //! Append a biarc to the biarc list + //! Append a biarc to the biarc list. //! void push_back( Biarc const & c ); //! - //! Append a polyline to the biarc list (transformed to a list of degenerate biarc) + //! Append a polyline to the biarc list + //! (transformed to a list of degenerate biarc). //! void push_back( PolyLine const & c ); @@ -236,7 +252,7 @@ namespace G2lib { //! //! Construct a biarc list passing to the points \f$ (x_i,y_i) \f$ - //! with angles \f$ \theta_i \f$ + //! with angles \f$ \theta_i \f$. //! //! \param[in] n number of points //! \param[in] x x-coordinates @@ -252,22 +268,23 @@ namespace G2lib { ); //! - //! Get the `idx`-th biarc + //! Get the `idx`-th biarc. //! Biarc const & get( int_type idx ) const; //! - //! Get the biarc that contain the curvilinear coordinate `s` + //! Get the biarc that contain the curvilinear coordinate `s`. //! Biarc const & getAtS( real_type s ) const; //! - //! Return the number of biarc in the biarc list + //! Return the number of biarc in the biarc list. //! int_type numSegments() const { return int_type(m_biarcList.size()); } //! - //! Get the of the biarc that contain the curvilinear coordinate `s` + //! Get the of the biarc that contain + //! the curvilinear coordinate `s`. //! int_type findAtS( real_type & s ) const; @@ -277,13 +294,13 @@ namespace G2lib { real_type length_ISO( real_type offs ) const override; //! - //! The length of the `nseg`-th biarc + //! The length of the `nseg`-th biarc. //! real_type segment_length( int_type nseg ) const; //! - //! The length of the `nseg`-th biarc with offset `offs` + //! The length of the `nseg`-th biarc with offset `offs`. //! real_type segment_length_ISO( int_type nseg, real_type offs ) const; @@ -693,13 +710,12 @@ namespace G2lib { operator << ( ostream_type & stream, BiarcList const & CL ); //! - //! Return the biarc as a list of nodes angles and curvatures + //! Return the biarc as a list of nodes angles and curvatures. //! //! \param[out] s nodes //! \param[out] theta angles //! \param[out] kappa curvature //! - //! void getSTK( real_type * s, @@ -713,7 +729,6 @@ namespace G2lib { //! \param[out] x x-nodes //! \param[out] y y-nodes //! - //! void getXY( real_type * x, real_type * y ) const; @@ -727,7 +742,6 @@ namespace G2lib { //! \return idx the segment with point at minimal distance, otherwise //! -(idx+1) if (x,y) cannot be projected orthogonally on the segment //! - //! int_type findST1( real_type x, @@ -766,12 +780,14 @@ namespace G2lib { | \___\___/|_|_|_|___/_|\___/|_| |_| \*/ - //! detect a collision with another biarc list + //! + //! Detect a collision with another biarc list. + //! bool collision( BiarcList const & C ) const; //! - //! Detect a collision with another biarc list with offset + //! Detect a collision with another biarc list with offset. //! //! \param[in] offs offset of first biarc //! \param[in] CL second biarc @@ -810,7 +826,7 @@ namespace G2lib { } //! - //! Intersect a biarc list with another biarc list with offset (ISO) + //! Intersect a biarc list with another biarc list with offset (ISO). //! //! \param[in] offs offset of first biarc //! \param[in] CL second biarc diff --git a/toolbox/src/Clothoids/Circle.hxx b/toolbox/src/Clothoids/Circle.hxx index 7681c7b3..6b0c7a45 100644 --- a/toolbox/src/Clothoids/Circle.hxx +++ b/toolbox/src/Clothoids/Circle.hxx @@ -66,14 +66,14 @@ namespace G2lib { {} //! - //! Build a copy of an existing circle arc + //! Build a copy of an existing circle arc. //! CircleArc( CircleArc const & s ) : BaseCurve(G2LIB_CIRCLE) { copy(s); } //! - //! Construct a circle arc with the standard parameters + //! Construct a circle arc with the standard parameters. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -81,7 +81,6 @@ namespace G2lib { //! \param[in] k curvature //! \param[in] L length //! - //! explicit CircleArc( real_type x0, @@ -100,7 +99,10 @@ namespace G2lib { , m_L(L) {} - //! construct a circle arc from a line segment (degenerate circle) + //! + //! Construct a circle arc from a line + //! segment (degenerate circle). + //! explicit CircleArc( LineSegment const & LS ) : BaseCurve(G2LIB_CIRCLE) @@ -114,7 +116,7 @@ namespace G2lib { {} //! - //! make a copy of an existing circle arc + //! Make a copy of an existing circle arc. //! void copy( CircleArc const & c ) { @@ -128,20 +130,20 @@ namespace G2lib { } //! - //! Build a circle arc from a generic curve (if possibile) + //! Build a circle arc from a generic curve (if possibile). //! explicit CircleArc( BaseCurve const & C ); //! - //! make a copy of an existing circle arc + //! Make a copy of an existing circle arc. //! CircleArc const & operator = ( CircleArc const & s ) { copy(s); return *this; } //! - //! Construct a circle arc with the standard parameters + //! Construct a circle arc with the standard parameters. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -165,7 +167,7 @@ namespace G2lib { } //! - //! Build a circle by solving the hermite G1 problem + //! Build a circle by solving the hermite G1 problem. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -184,7 +186,7 @@ namespace G2lib { ); //! - //! Build a circle passing by 3 points + //! Build a circle passing by 3 points. //! //! \param[in] x0 starting point x-coordinate //! \param[in] y0 starting point y-coordinate @@ -207,7 +209,7 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! Get the bounding box triangle (if angle variation less that pi/3) + //! Get the bounding box triangle (if angle variation less that pi/3). //! //! \param[out] x0 first triangle point x-coordinate //! \param[out] y0 first triangle point y-coordinate @@ -226,7 +228,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] x0 first triangle point x-coordinate @@ -247,7 +249,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! if angle variation less that \f$ \pi/3 \f$) + //! if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] x0 first triangle point x-coordinate @@ -270,7 +272,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[out] p0 first triangle point //! \param[out] p1 second triangle point @@ -288,7 +290,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] p0 first triangle point @@ -308,7 +310,7 @@ namespace G2lib { //! //! Get the bounding box triangle of the circle arc with offset - //! (if angle variation less that \f$ \pi/3 \f$) + //! (if angle variation less that \f$ \pi/3 \f$). //! //! \param[in] offs offset //! \param[out] p0 first triangle point @@ -327,7 +329,7 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc + //! Get the bounding box triangle list of the circle arc. //! //! \param[out] t the bounding triangle //! \param[in] ss0 `s0` stored in the triangle class @@ -349,7 +351,8 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list + //! of the circle arc with offset. //! //! \param[in] offs offset //! \param[out] t the bounding triangle @@ -373,7 +376,8 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of + //! the circle arc with offset. //! //! \param[in] offs offset //! \param[out] t the bounding triangle @@ -394,7 +398,7 @@ namespace G2lib { } //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of the circle arc with offset. //! //! \param[out] tvec the bounding triangle list //! \param[in] max_angle maximum angle variation admitted for all splitted segment @@ -410,7 +414,7 @@ namespace G2lib { ) const override; // 10 degree //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of the circle arc with offset. //! //! \param[in] offs offset //! \param[out] tvec the bounding triangle list @@ -428,7 +432,7 @@ namespace G2lib { ) const override; // 10 degree //! - //! Get the bounding box triangle list of the circle arc with offset + //! Get the bounding box triangle list of the circle arc with offset. //! //! \param[in] offs offset //! \param[out] tvec the bounding triangle list @@ -669,12 +673,14 @@ namespace G2lib { | \___\___/|_|_|_|___/_|\___/|_| |_| \*/ - //! detect a collision with another circle arc + //! + //! Detect a collision with another circle arc. + //! bool collision( CircleArc const & ) const; //! - //! Detect a collision with another circle arc with offset + //! Detect a collision with another circle arc with offset. //! //! \param[in] offs offset of first circle arc //! \param[in] C second circle arc @@ -696,7 +702,7 @@ namespace G2lib { \*/ //! - //! Intersect a circle arc with another circle arc + //! Intersect a circle arc with another circle arc. //! //! \param[in] obj second biarc //! \param[out] ilist list of the intersection (as parameter on the curves) @@ -711,7 +717,7 @@ namespace G2lib { ) const; //! - //! Intersect a circle arc with another circle arc with offset (ISO) + //! Intersect a circle arc with another circle arc with offset (ISO). //! //! \param[in] offs offset of first circle arc //! \param[in] C second circle arc @@ -730,37 +736,41 @@ namespace G2lib { ) const; //! - //! Return \f$ \sin \theta_0 \f$ where \f$ \theta_0 \f$ is the initial tangent angle + //! Return \f$ \sin \theta_0 \f$ where + //! \f$ \theta_0 \f$ is the initial tangent angle. //! real_type sinTheta0() const { return sin(m_theta0); } //! - //! Return \f$ \cos \theta_0 \f$ where \f$ \theta_0 \f$ is the initial tangent angle + //! Return \f$ \cos \theta_0 \f$ where + //! \f$ \theta_0 \f$ is the initial tangent angle. //! real_type cosTheta0() const { return cos(m_theta0); } //! - //! Return curvature of the circle arc + //! Return curvature of the circle arc. //! real_type curvature() const { return m_k; } //! - //! Return the length of the arc that can approximated by a line segment + //! Return the length of the arc that + //! can approximated by a line segment. //! real_type lenTolerance( real_type tol ) const; //! - //! Return the tangent angle variation in the circle arc + //! Return the tangent angle variation in the circle arc. //! real_type delta_theta() const { return m_L*m_k; } //! - //! Return the absolute value of the tangent angle variation in the circle arc + //! Return the absolute value of the tangent + //! angle variation in the circle arc. //! real_type thetaTotalVariation() const { return std::abs(m_L*m_k); } //! - //! Minimum and maximum tangent angle + //! Minimum and maximum tangent angle. //! //! \param[out] thMin mimimum tangent angle //! \param[out] thMax maximum tangent angle @@ -770,7 +780,7 @@ namespace G2lib { thetaMinMax( real_type & thMin, real_type & thMax ) const; //! - //! Minimum and maximum tangent angle + //! Minimum and maximum tangent angle. //! //! \param[out] thMin mimimum tangent angle //! \param[out] thMax maximum tangent angle @@ -782,7 +792,7 @@ namespace G2lib { //! //! Change the origin of the circle arc at \f$ s_0 \f$ - //! and the length of the arc to \f$ L \f$ + //! and the length of the arc to \f$ L \f$. //! //! \param[in] s0 \f$ s_0 \f$ //! \param[in] newL \f$ L \f$ @@ -791,7 +801,7 @@ namespace G2lib { changeCurvilinearOrigin( real_type s0, real_type newL ); //! - //! Get the center of the circle arc \f$ (c_x,c_y) \f$ + //! Get the center of the circle arc \f$ (c_x,c_y) \f$. //! //! \param[in] cx \f$ c_x \f$ //! \param[in] cy \f$ c_y \f$ @@ -800,7 +810,7 @@ namespace G2lib { center( real_type & cx, real_type & cy ) const; //! - //! Get the ray of the circle arc + //! Get the ray of the circle arc. //! real_type ray() const { return 1/std::abs(m_k); } @@ -813,7 +823,7 @@ namespace G2lib { \*/ //! - //! Get the parameters to build a NURBS for the circle ars + //! Get the parameters to build a NURBS for the circle ars. //! //! \param[out] n_knots number of knots for the NURBS //! \param[out] n_pnts number of point of the polygon of the NURBS @@ -822,7 +832,7 @@ namespace G2lib { paramNURBS( int_type & n_knots, int_type & n_pnts ) const; //! - //! Get the parameters to build a NURBS for the circle ars + //! Get the parameters to build a NURBS for the circle ars. //! //! \param[out] knots vector of the knots //! \param[out] Poly points of the polygon of the NURBS @@ -831,7 +841,7 @@ namespace G2lib { toNURBS( real_type * knots, real_type Poly[][3] ) const; //! - //! pretty print circle arc + //! Pretty print circle arc. //! friend ostream_type & diff --git a/toolbox/src/Clothoids/Clothoid.hxx b/toolbox/src/Clothoids/Clothoid.hxx index b5f7763a..658832e2 100644 --- a/toolbox/src/Clothoids/Clothoid.hxx +++ b/toolbox/src/Clothoids/Clothoid.hxx @@ -80,7 +80,7 @@ namespace G2lib { ) const; void - closestPoint_internal_ISO( + closestPoint_internal( real_type s_begin, real_type s_end, real_type qx, @@ -92,6 +92,17 @@ namespace G2lib { real_type & dst ) const; + void + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & dst + ) const; + static int_type m_max_iter; static real_type m_tolerance; @@ -190,7 +201,7 @@ namespace G2lib { { copy(s); } //! - //! Construct a clothoid with the standard parameters + //! Construct a clothoid with the standard parameters. //! //! \param[in] x0 starting position x-coordinate //! \param[in] y0 starting position y-coordinate @@ -199,7 +210,6 @@ namespace G2lib { //! \param[in] dk curvature derivative //! \param[in] L length //! - //! explicit ClothoidCurve( real_type x0, @@ -221,7 +231,7 @@ namespace G2lib { } //! - //! Construct a clothoid \f$ \G(s) \f$ solving the G1 problem + //! Construct a clothoid \f$ \G(s) \f$ solving the G1 problem. //! //! \f[ //! \begin{cases} @@ -237,7 +247,6 @@ namespace G2lib { //! \param[in] P1 final point \f$ \mathbf{p}_1 \f$ //! \param[in] theta1 final angle \f$ \theta_1 \f$ //! - //! explicit ClothoidCurve( real_type const * P0, @@ -252,7 +261,7 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing one + //! Build a clothoid copying an existing one. //! void copy( ClothoidCurve const & c ) { @@ -263,7 +272,7 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing line segment + //! Build a clothoid copying an existing line segment. //! explicit ClothoidCurve( LineSegment const & LS ) @@ -279,7 +288,7 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing circle arc + //! Build a clothoid copying an existing circle arc. //! explicit ClothoidCurve( CircleArc const & C ) @@ -295,12 +304,14 @@ namespace G2lib { } //! - //! Build a clothoid copying an existing curve + //! Build a clothoid copying an existing curve. //! explicit ClothoidCurve( BaseCurve const & C ); - //! copy an existing clothoid + //! + //! Copy an existing clothoid. + //! ClothoidCurve const & operator = ( ClothoidCurve const & s ) { copy(s); return *this; } @@ -320,7 +331,6 @@ namespace G2lib { //! \param[in] dk curvature derivative //! \param[in] L length //! - //! void build( real_type x0, @@ -332,7 +342,7 @@ namespace G2lib { ); //! - //! Build a clothoid by solving the hermite G1 problem + //! Build a clothoid by solving the hermite G1 problem. //! //! \param[in] x0 initial x position \f$ x_0 \f$ //! \param[in] y0 initial y position \f$ y_0 \f$ @@ -359,7 +369,7 @@ namespace G2lib { } //! - //! Build a clothoid by solving the hermite G1 problem + //! Build a clothoid by solving the hermite G1 problem. //! //! \param[in] x0 initial x position \f$ x_0 \f$ //! \param[in] y0 initial y position \f$ y_0 \f$ @@ -394,7 +404,7 @@ namespace G2lib { } //! - //! Build a clothoid by solving the forward problem + //! Build a clothoid by solving the forward problem. //! //! \param[in] x0 initial x position \f$ x_0 \f$ //! \param[in] y0 initial y position \f$ y_0 \f$ @@ -420,7 +430,7 @@ namespace G2lib { } //! - //! Build a clothoid from a line segment + //! Build a clothoid from a line segment. //! void build( LineSegment const & LS ) { @@ -435,7 +445,7 @@ namespace G2lib { } //! - //! Build a clothoid from a circle arc + //! Build a clothoid from a circle arc. //! void build( CircleArc const & C ) { @@ -450,12 +460,12 @@ namespace G2lib { } //! - //! Return the point at infinity of the clothoids \f$ P(s) \f$ + //! Return the point at infinity of the clothoids \f$ P(s) \f$. //! - //! \param[out] x x-coordinate of the infinity point - //! \param[out] y y-coordinate of the infinity point - //! \param[out] plus it true return \f$ \lim_{s\to+\infty} P(s) \f$ - //! otherwise return \f$ \lim_{s\to-\infty} P(s) \f$ + //! \param[out] x x-coordinate of the infinity point + //! \param[out] y y-coordinate of the infinity point + //! \param[out] plus it true return \f$ \lim_{s\to+\infty} P(s) \f$ + //! otherwise return \f$ \lim_{s\to-\infty} P(s) \f$ //! //! \rst //! @@ -465,72 +475,70 @@ namespace G2lib { //! //! \endrst //! - //! void Pinfinity( real_type & x, real_type & y, bool plus = true ) const { m_CD.Pinfinity( x, y, plus ); } - //! derivative of the curvature of the clothoid + //! + //! Derivative of the curvature of the clothoid. + //! real_type dkappa() const { return m_CD.dk; } //! - //! clothoid curve total variation of the angle + //! Clothoid curve total variation of the angle. //! real_type thetaTotalVariation() const; //! - //! max and min angle of the curve + //! Max and min angle of the curve. //! real_type thetaMinMax( real_type & thMin, real_type & thMax ) const; //! - //! clothoid angle range + //! Clothoid angle range. //! real_type deltaTheta() const { real_type thMin, thMax; return thetaMinMax( thMin, thMax ); } //! - //! max and min of the curvatire of the clothoid curve + //! Max and min of the curvatire of the clothoid curve. //! real_type curvatureMinMax( real_type & kMin, real_type & kMax ) const; //! - //! clothoid total curvature variation + //! Clothoid total curvature variation. //! real_type curvatureTotalVariation() const; //! - //! Given the clothoid curve \f$ P(s) \f$ compute - //! - //! \f[ - //! \int_0^L |P''(s)|^2 \mathrm{d}s - //! \f] + //! Given the clothoid curve \f$ P(s) \f$ compute. //! + //! \f[ + //! \int_0^L |P''(s)|^2 \mathrm{d}s + //! \f] //! real_type integralCurvature2() const; //! - //! Given the clothoid curve \f$ P(s) \f$ compute + //! Given the clothoid curve \f$ P(s) \f$ compute. //! //! \f[ //! \int_0^L |P'''(s)|^2 \mathrm{d}s //! \f] //! - //! real_type integralJerk2() const; //! - //! Given the clothoid curve \f$ P(s) \f$ compute + //! Given the clothoid curve \f$ P(s) \f$ compute. //! //! \f[ //! \int_0^L |P''''(s)|^2 \mathrm{d}s //! \f] //! - //! real_type integralSnap2() const; //! @@ -588,7 +596,6 @@ namespace G2lib { //! \param S curvilinear coordinate of the point (X,Y) on the clothoid //! \return the distance of the point from the clothoid //! - //! real_type closestPointBySample( real_type ds, @@ -609,7 +616,6 @@ namespace G2lib { //! \param S curvilinear coordinate of the point (X,Y) on the clothoid //! \return the distance of the point from the clothoid //! - //! real_type distanceBySample( real_type ds, @@ -630,7 +636,6 @@ namespace G2lib { //! \param qy y-coordinate of the given point //! \return the distance of the point from the clothoid //! - //! real_type distanceBySample( real_type ds, @@ -650,7 +655,8 @@ namespace G2lib { \*/ //! - //! get the triangle bounding box (if angle variation less that pi/2) + //! Get the triangle bounding box + //! (if angle variation less that \f$ \pi/2 \f$ ) //! bool bbTriangle( @@ -662,7 +668,8 @@ namespace G2lib { } //! - //! get the triangle bounding box (if angle variation less that pi/2) + //! Get the triangle bounding box + //! (if angle variation less that \f$ \pi/2 \f$) //! bool bbTriangle_ISO( @@ -675,7 +682,8 @@ namespace G2lib { } //! - //! get the triangle bounding box (if angle variation less that pi/2) + //! Get the triangle bounding box + //! (if angle variation less that \f$ \pi/2 \f$) //! bool bbTriangle_SAE( @@ -841,7 +849,7 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! get clothoid angle at curvilinear cooordinate `s` + //! Get clothoid angle at curvilinear cooordinate `s`. //! //! \param s curvilinear cooordinate //! \return angle (radiant) at curvilinear cooordinate `s` @@ -851,7 +859,8 @@ namespace G2lib { { return m_CD.theta(s); } //! - //! get clothoid angle derivative (=curvature) at curvilinear cooordinate `s` + //! Get clothoid angle derivative (=curvature) + //! at curvilinear cooordinate `s`. //! //! \param s curvilinear cooordinate //! \return angle derivative (radiant/s) at curvilinear cooordinate `s` @@ -861,7 +870,8 @@ namespace G2lib { { return m_CD.kappa(s); } //! - //! Get clothoid angle second derivative at curvilinear cooordinate `s` + //! Get clothoid angle second derivative + //! at curvilinear cooordinate `s`. //! //! \return angle second derivative (radiant/s^2) at curvilinear cooordinate `s` //! @@ -870,7 +880,8 @@ namespace G2lib { { return m_CD.dk; } //! - //! Get clothoid angle third derivative at curvilinear cooordinate `s` + //! Get clothoid angle third derivative + //! at curvilinear cooordinate `s`. //! //! \return angle third derivative (radiant/s^3) at curvilinear cooordinate `s` //! @@ -895,7 +906,8 @@ namespace G2lib { // . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . //! - //! Clothoid X coordinate at curvilinear coordinate `s` + //! Clothoid X coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \return clothoid X coordinate //! @@ -916,7 +928,8 @@ namespace G2lib { { return m_CD.X_DDD(s); } //! - //! Clothoid Y coordinate at curvilinear coordinate `s` + //! Clothoid Y coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \return clothoid Y coordinate //! @@ -937,7 +950,8 @@ namespace G2lib { { return m_CD.Y_DDD(s); } //! - //! Clothoid X coordinate at curvilinear coordinate `s` + //! Clothoid X coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \param offs lateral offset //! \return clothoid X coordinate @@ -959,7 +973,8 @@ namespace G2lib { { return m_CD.X_ISO_DDD(s,offs); } //! - //! Clothoid Y coordinate at curvilinear coordinate `s` + //! Clothoid Y coordinate at curvilinear coordinate `s`. + //! //! \param s curvilinear coordinate //! \param offs lateral offset //! \return clothoid Y coordinate @@ -1089,7 +1104,7 @@ namespace G2lib { //! //! change the origin of the clothoid at \f$ s_0 \f$ - //! and the length to \f$ L \f$ + //! and the length to \f$ L \f$. //! //! \param[in] s0 \f$ s_0 \f$ //! \param[in] newL \f$ L \f$ diff --git a/toolbox/src/Clothoids/ClothoidList.hxx b/toolbox/src/Clothoids/ClothoidList.hxx index d6f0e729..9130a0bc 100644 --- a/toolbox/src/Clothoids/ClothoidList.hxx +++ b/toolbox/src/Clothoids/ClothoidList.hxx @@ -877,6 +877,17 @@ namespace G2lib { lastInterval = 0; } + int_type + closestPoint_internal( + real_type qx, + real_type qy, + real_type offs, + real_type & x, + real_type & y, + real_type & s, + real_type & DST + ) const; + public: #include "BaseCurve_using.hxx" diff --git a/toolbox/src/Console.cc b/toolbox/src/Console.cc index f8445e69..9c1bbc05 100644 --- a/toolbox/src/Console.cc +++ b/toolbox/src/Console.cc @@ -221,9 +221,9 @@ namespace Utils { Console const & Console::semaphore( - unsigned rvg, + unsigned rvg, string const & msg, - int msg_level + int msg_level ) const { lock_guard lock_access(m_message_mutex); static rang::fg rvg_color[3] = { diff --git a/toolbox/src/G2lib_intersect.cc b/toolbox/src/G2lib_intersect.cc index ca225f7d..54a35961 100644 --- a/toolbox/src/G2lib_intersect.cc +++ b/toolbox/src/G2lib_intersect.cc @@ -162,14 +162,12 @@ namespace G2lib { bool collision( BaseCurve const & obj1, BaseCurve const & obj2 ) { - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "collision {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif bool ok = false; switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { @@ -239,14 +237,12 @@ namespace G2lib { init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "collision (offs) {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif bool ok = false; switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { @@ -315,14 +311,12 @@ namespace G2lib { init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "intersect {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { case G2LIB_LINE: @@ -392,14 +386,12 @@ namespace G2lib { init_promote_map(); #endif - #ifdef DEBUG - fmt::print( + G2LIB_DEBUG_MESSAGE( "intersect (offs) {} with {} using {}\n", CurveType_name[obj1.type()], CurveType_name[obj2.type()], CurveType_name[promote_map.at(Ppair(obj1.type(),obj2.type()))] ); - #endif switch ( promote_map.at(Ppair(obj1.type(),obj2.type())) ) { case G2LIB_LINE: diff --git a/toolbox/src/Table.cc b/toolbox/src/Table.cc new file mode 100644 index 00000000..a4bb55f5 --- /dev/null +++ b/toolbox/src/Table.cc @@ -0,0 +1,443 @@ +/*--------------------------------------------------------------------------*\ + | | + | Copyright (C) 2021 | + | | + | , __ , __ | + | /|/ \ /|/ \ | + | | __/ _ ,_ | __/ _ ,_ | + | | \|/ / | | | | \|/ / | | | | + | |(__/|__/ |_/ \_/|/|(__/|__/ |_/ \_/|/ | + | /| /| | + | \| \| | + | | + | Enrico Bertolazzi | + | Dipartimento di Ingegneria Industriale | + | Universita` degli Studi di Trento | + | Via Sommarive 9, I-38123 Povo, Trento, Italy | + | email: enrico.bertolazzi@unitn.it | + | | +\*--------------------------------------------------------------------------*/ + +/*\ + + Based on terminal-table: + + https://github.com/Bornageek/terminal-table + + Copyright 2015 Andreas Wilhelm + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +\*/ + + +/// +/// file: Table.cc +/// + +#ifndef DOXYGEN_SHOULD_SKIP_THIS + +#include "Utils.hh" + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace Utils { + + namespace Table { + + using std::istringstream; + using std::stringstream; + using std::count; + using std::getline; + using std::find_if; + using std::isspace; + using std::setw; + using std::left; + using std::right; + using std::setfill; + using std::bind; + using std::out_of_range; + using std::to_string; + using std::transform; + + Cell::Cell( + Table* table, + string const & val, + integer colSpan + ) + : m_Table(table) + , m_Value(val) + , m_ColSpan(colSpan) + { + m_Width = integer(val.length()); + } + + integer + Cell::width( integer col ) const { + integer padding = (m_ColSpan - 1) * m_Table->cellSpacing(); + integer innerWidth = 0; + + for( integer i = 0; i < m_ColSpan; ++i ) + innerWidth += m_Table->columnWidth(col + i); + + return innerWidth + padding; + } + + integer + Cell::height() const { + return integer( count( m_Value.begin(), m_Value.end(), '\n') + 1); + } + + integer + Cell::maxLineWidth() const { + integer maxlen = 0; + string line; + istringstream stream( m_Value ); + while( getline(stream, line) ) { + integer len = integer( line.length() ); + if ( len > maxlen ) maxlen = len; + } + return maxlen; + } + + string + Cell::line( integer idx ) const { + if ( idx < this->height() ) { + istringstream stream(m_Value); + string line; + for( integer i = 0; i <= idx; ++i) getline(stream, line); + this->trimLine(line); + return line; + } + return ""; + } + + void + Cell::trimLine( string & line ) const { + auto fun = [] ( char c ) -> bool { return isspace(int(c)) == 0; }; + line.erase( line.begin(), find_if( line.begin(), line.end(), fun ) ); + line.erase( find_if( line.rbegin(), line.rend(), fun ).base(), line.end() ); + } + + string + Cell::render( integer line, integer col ) const { + stringstream ss; + integer width = this->width(col); + integer pL = m_Table->style().paddingLeft(); + integer pR = m_Table->style().paddingRight(); + + switch( m_Align ) { + case Alignment::LEFT: + ss << string( pL, ' ' ) + << setw(width) << left << setfill(' ') << this->line(line) + << string( pR, ' ' ); + break; + case Alignment::RIGHT: + ss << string( pL, ' ' ) + << setw(width) << right << setfill(' ') << this->line(line) + << string( pR, ' ' ); + break; + case Alignment::CENTER: + { + string val = this->line(line); + integer innerWidth = width + m_Table->cellPadding(); + integer spaceLeft = (innerWidth-integer(val.length()))/2; + ss << string(spaceLeft, ' ') + << setw(innerWidth - spaceLeft) << left << setfill(' ') << this->line(line); + } + break; + } + return ss.str(); + } + + Row::Row( Table * table, vecstr const & cells ) + : m_Table(table) { + for_each( + cells.begin(), cells.end(), + bind( + static_cast(&Row::cell), + this, + std::placeholders::_1 + ) + ); + } + + void + Row::cells( vecstr const & cells ) { + for_each( + cells.begin(), cells.end(), + bind( + static_cast(&Row::cell), + this, + std::placeholders::_1 + ) + ); + } + + integer + Row::cellWidth( integer idx ) const { + if ( idx < this->numCells() ) return m_Cells[idx].maxLineWidth(); + return 0; + } + + void + Row::cellColSpan( integer idx, integer span ) { + if ( span > 0 && idx < this->numCells() ) m_Cells[idx].colSpan(span); + } + + void + Row::cell( string const & value ) { + m_Cells.push_back( Cell( m_Table, value ) ); + } + + integer + Row::height() const { + integer maxlen = 1; + for_each( + m_Cells.begin(), m_Cells.end(), + [&maxlen]( Cell const & cell ) -> void { + if ( cell.height() > maxlen ) maxlen = cell.height(); + } + ); + return maxlen; + } + + string + Row::render() const { + integer numColumns = m_Table->numColumns(); + integer paddingLR = m_Table->style().paddingLeft()+ + m_Table->style().paddingRight(); + integer numLines = this->height(); + stringstream ss; + + Style style = m_Table->style(); + integer nc = integer(m_Cells.size()); + + for ( integer l = 0; l < numLines; ++l ) { + ss << style.borderLeft(); + for( integer c = 0; c < numColumns; ++c ) { + if ( c < nc ) { + Cell const & C = m_Cells[c]; + ss << C.render(l, c); + if ( C.colSpan() > 1 ) c += C.colSpan() - 1; + } else { + ss << string(m_Table->columnWidth(c)+paddingLR,' '); + } + if ( c < numColumns-1 ) ss << style.borderMiddle(); + } + ss << style.borderRight() << '\n'; + } + return ss.str(); + } + + void + Table::alignColumn( integer n, Alignment align ) { + if ( n > this->numColumns() ) + throw out_of_range( + "Table error: The table just has " + to_string(this->numColumns()) + " columns." + ); + for_each( + m_Rows.begin(), m_Rows.end(), + [n, align]( Row & row ) -> void { + if ( n < row.numCells() ) row[n].alignment(align); + } + ); + } + + void + Table::addRow( vecstr const & row ) { + m_Rows.push_back( Row(this, row) ); + } + + integer + Table::cellSpacing() const { + return this->cellPadding() + 1; + } + + integer + Table::cellPadding() const { + return m_Style.paddingLeft() + m_Style.paddingRight(); + } + + typename Table::vecCell + Table::column( integer n ) const { + if ( n > this->numColumns() ) + throw out_of_range( + "Table error: The table just has " + to_string(this->numColumns()) + " columns." + ); + + vecCell column(m_Rows.size()); + + transform( + m_Rows.begin(), m_Rows.end(), column.begin(), + [n]( Row const & row ) -> Cell { return row[n]; } + ); + + return column; + } + + integer + Table::columnWidth( integer n ) const { + if ( n > this->numColumns() ) + throw out_of_range( + "Table error: The table just has " + to_string(this->numColumns()) + " columns." + ); + integer maxlen = 0; + auto fun = [&maxlen, n]( Row const & row ) -> void { + if ( n < row.numCells() ) { + integer cw = row.cellWidth(n); + if ( cw > maxlen ) maxlen = cw; + } + }; + fun( m_Headings ); + for_each( m_Rows.begin(), m_Rows.end(), fun ); + return maxlen; + } + + integer + Table::numColumns() const { + integer maxlen = m_Headings.numCells(); + auto fun = [&maxlen]( Row const & row ) -> void { + integer nc = row.numCells(); + if ( nc > maxlen ) maxlen = nc; + }; + for_each( m_Rows.begin(), m_Rows.end(), fun ); + return maxlen; + } + + void + Table::headings( vecstr const & headings ) { + m_Headings = Row(this, headings); + } + + Row & + Table::row( integer n ) { + if ( n >= integer(m_Rows.size()) ) + throw out_of_range( + "Table error: The table just has " + to_string(m_Rows.size()) + " rows." + ); + return m_Rows[n]; + } + + Row const & + Table::row( integer n ) const { + if ( n >= integer(m_Rows.size()) ) + throw out_of_range( + "Table error: The table just has " + to_string(m_Rows.size()) + " rows." + ); + return m_Rows[n]; + } + + void + Table::rows( vecvecstr const & rows ) { + m_Rows = vecRow(); + for_each( + rows.begin(), rows.end(), + [this]( vecstr const & row ) { + m_Rows.push_back( Row(this, row) ); + } + ); + } + + string + Table::renderSeparator( + char left, + char mid, + char right, + char sep + ) const { + stringstream ss; + ss << left; + integer padding_LR = m_Style.paddingLeft() + m_Style.paddingRight(); + integer nc = this->numColumns(); + for ( integer i = 0; i < nc; ++i ) { + integer width = this->columnWidth(i) + padding_LR; + for ( integer j = 0 ; j < width; ++j ) ss << sep; + if ( i+1 < nc ) ss << mid; + else ss << right; + } + ss << '\n'; + return ss.str(); + } + + string + Table::render() const { + stringstream ss; + string sep = this->renderSeparator( + m_Style.borderLeftMid(), + m_Style.borderMidMid(), + m_Style.borderRightMid(), + m_Style.borderMid() + ); + + if ( m_Title.length() > 0 ) { + integer innerWidth = (this->numColumns() - 1) * this->cellSpacing() + this->cellPadding(); + for ( integer c = 0; c < this->numColumns(); ++c ) + innerWidth += this->columnWidth(c); + + integer spaceLeft = (innerWidth - integer(m_Title.length())) / 2; + + ss << m_Style.borderTopLeft() + << string(innerWidth, m_Style.borderTop()) + << m_Style.borderTopRight() + << '\n' + << m_Style.borderLeft() + << string(spaceLeft, ' ') + << left << setw(innerWidth - spaceLeft) << setfill(' ') << m_Title + << m_Style.borderRight() + << '\n' << sep; + } else { + ss << renderSeparator( + m_Style.borderTopLeft(), + m_Style.borderTopMid(), + m_Style.borderTopRight(), + m_Style.borderTop() + ); + } + + if ( m_Headings.numCells() > 0 ) + ss << m_Headings.render() << sep; + + if ( m_Rows.size() > 0 ) { + for_each( + m_Rows.begin(), --m_Rows.end(), + [&ss, sep]( Row const & row ) -> void { + if ( row.numCells() > 0 ) ss << row.render() << sep; + } + ); + ss << m_Rows.back().render(); + } + + ss << this->renderSeparator( + m_Style.borderBottomLeft(), + m_Style.borderBottomMid(), + m_Style.borderBottomRight(), + m_Style.borderBottom() + ); + return ss.str(); + } + } +} + +#endif + +/// +/// eof: Table.cc +/// diff --git a/toolbox/src/TicToc.cc b/toolbox/src/TicToc.cc index 4c9aaabb..2e6d3f56 100644 --- a/toolbox/src/TicToc.cc +++ b/toolbox/src/TicToc.cc @@ -56,16 +56,39 @@ namespace Utils { } void - sleep_for_seconds(unsigned s) { + sleep_for_seconds( unsigned s ) { Sleep(DWORD(s) * 1000); } void - sleep_for_milliseconds(unsigned ms) { + sleep_for_milliseconds( unsigned ms ) { Sleep(DWORD(ms)); } } +#else + +namespace Utils { + + void + TicToc::tic() + { m_start_time = clock::now(); } + + void + TicToc::toc() { + m_stop_time = clock::now(); + m_elapsed_time = std::chrono::duration_cast(m_stop_time - m_start_time); + } + + typename TicToc::real_type + TicToc::elapsed_s() const + { return 1e-6*m_elapsed_time.count(); } + + typename TicToc::real_type + TicToc::elapsed_ms() const + { return 1e-3*m_elapsed_time.count(); } +} + #endif /// diff --git a/toolbox/src/Utils/Table.hxx b/toolbox/src/Utils/Table.hxx new file mode 100644 index 00000000..87ad36ac --- /dev/null +++ b/toolbox/src/Utils/Table.hxx @@ -0,0 +1,330 @@ +/*--------------------------------------------------------------------------*\ + | | + | Copyright (C) 2021 | + | | + | , __ , __ | + | /|/ \ /|/ \ | + | | __/ _ ,_ | __/ _ ,_ | + | | \|/ / | | | | \|/ / | | | | + | |(__/|__/ |_/ \_/|/|(__/|__/ |_/ \_/|/ | + | /| /| | + | \| \| | + | | + | Enrico Bertolazzi | + | Dipartimento di Ingegneria Industriale | + | Universita` degli Studi di Trento | + | email: enrico.bertolazzi@unitn.it | + | | +\*--------------------------------------------------------------------------*/ + +/// +/// eof: Table.hxx +/// + +/*\ + + Based on terminal-table: + + https://github.com/Bornageek/terminal-table + + Copyright 2015 Andreas Wilhelm + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + +\*/ + +#pragma once + +#ifndef TABLE_dot_HXX +#define TABLE_dot_HXX + +namespace Utils { + + namespace Table { + + using std::string; + using std::vector; + + class Table; + + typedef int integer; + + enum Alignment { LEFT, RIGHT, CENTER }; + + class Style { + private: + + char m_BorderTop = '-'; + char m_BorderTopMid = '+'; + char m_BorderTopLeft = '+'; + char m_BorderTopRight = '+'; + + char m_BorderBottom = '-'; + char m_BorderBottomMid = '+'; + char m_BorderBottomLeft = '+'; + char m_BorderBottomRight = '+'; + + char m_BorderLeft = '|'; + char m_BorderLeftMid = '+'; + + char m_BorderMid = '-'; + char m_BorderMidMid = '+'; + + char m_BorderRight = '|'; + char m_BorderRightMid = '+'; + + char m_BorderMiddle = '|'; + + integer m_PaddingLeft = 1; + integer m_PaddingRight = 1; + + Alignment m_Align = Alignment::LEFT; + + integer m_Width = 0; + + public: + + Style() {} + + char borderTop() const { return m_BorderTop; } + void borderTop( char borderStyle ) { m_BorderTop = borderStyle; } + + char borderTopMid() const { return m_BorderTopMid; } + void borderTopMid( char borderStyle ) { m_BorderTopMid = borderStyle; } + + char borderTopLeft() const { return m_BorderTopLeft; } + void borderTopLeft( char borderStyle ) { m_BorderTopLeft = borderStyle; } + + char borderTopRight() const { return m_BorderTopRight; } + void borderTopRight( char borderStyle ) { m_BorderTopRight = borderStyle; } + + char borderBottom() const { return m_BorderBottom; } + void borderBottom( char borderStyle ) { m_BorderBottom = borderStyle; } + + char borderBottomMid() const { return m_BorderBottomMid; } + void borderBottomMid( char borderStyle ) { m_BorderBottomMid = borderStyle; } + + char borderBottomLeft() const { return m_BorderBottomLeft; } + void borderBottomLeft( char borderStyle ) { m_BorderBottomLeft = borderStyle; } + + char borderBottomRight() const { return m_BorderBottomRight; } + void borderBottomRight( char borderStyle) { m_BorderBottomRight = borderStyle; } + + char borderLeft() const { return m_BorderLeft; } + void borderLeft( char borderStyle ) { m_BorderLeft = borderStyle; } + + char borderLeftMid() const { return m_BorderLeftMid; } + void borderLeftMid( char borderStyle ) { m_BorderLeftMid = borderStyle; } + + char borderMid() const { return m_BorderMid; } + void borderMid( char borderStyle ) { m_BorderMid = borderStyle; } + + char borderMidMid() const { return m_BorderMidMid; } + void borderMidMid( char borderStyle ) { m_BorderMidMid = borderStyle; } + + char borderRight() const { return m_BorderRight; } + void borderRight( char borderStyle ) { m_BorderRight = borderStyle; } + + char borderRightMid() const { return m_BorderRightMid; } + void borderRightMid( char borderStyle ) { m_BorderRightMid = borderStyle; } + + char borderMiddle() const { return m_BorderMiddle; } + void borderMiddle( char borderStyle ) { m_BorderMiddle = borderStyle; } + + integer paddingLeft() const { return m_PaddingLeft; } + void paddingLeft( integer padding ) { m_PaddingLeft = padding; } + + integer paddingRight() const { return m_PaddingRight; } + void paddingRight( integer padding ) { m_PaddingRight = padding; } + + Alignment alignment() const { return m_Align; } + void alignment( Alignment align ) { m_Align = align; } + + integer width() const { return m_Width; } + void width( integer width ) { m_Width = width; } + }; + + class Cell { + private: + Table * m_Table = nullptr; + string m_Value = ""; + Alignment m_Align = Alignment::LEFT; + integer m_ColSpan = 1; + integer m_Width = 0; + + public: + + Cell() {} + + Cell( + Table* table, + string const & val = "", + integer colSpan = 1 + ); + + string const & value() const { return m_Value; } + void value( string const & val ) { m_Value = val; } + + Alignment alignment() const { return m_Align; } + void alignment( Alignment align ) { m_Align = align; } + + integer colSpan() const { return m_ColSpan; } + void colSpan( integer colSpan ) { m_ColSpan = colSpan; } + + integer width( integer col ) const; + integer height() const; + + integer maxLineWidth() const; + + string line( integer idx ) const; + void trimLine( string & line ) const; + + string render( integer line, integer col ) const; + }; + + class Row { + protected: + typedef vector vecCell; + typedef std::vector vecstr; + + Table * m_Table = nullptr; + vecCell m_Cells; + + public: + + Row() {} + + Row( + Table * table, + vecstr const & cells = vecstr() + ); + + Table const * table() const { return m_Table; } + + //vecCell & cells() { return m_Cells; } + void cells( vecstr const & cells ); + + integer numCells() const { return integer(m_Cells.size()); } + integer cellWidth( integer idx ) const; + void cellColSpan( integer idx, integer span ); + + void cell( string const & value ); + //Cell& cell( integer idx ) { return m_Cells[idx]; } + + Cell const & operator [] ( integer idx ) const { return m_Cells[idx]; } + Cell & operator [] ( integer idx ) { return m_Cells[idx]; } + + integer height() const; + + string render() const; + }; + + class Table { + public: + typedef vector vecRow; + typedef vector vecCell; + typedef vector vecstr; + typedef vector vecvecstr; + typedef int integer; + + private: + Style m_Style; + string m_Title; + Row m_Headings; + vecRow m_Rows; + + public: + + Table() {} + + Table( + Style const & style, + vecvecstr const & rows = vecvecstr() + ) + : m_Style(style) { + this->rows(rows); + } + + void + setup( + Style const & style, + vecvecstr const & rows = vecvecstr() + ) { + m_Style = style; + this->rows(rows); + } + + void alignColumn( integer n, Alignment align ); + void addRow( vecstr const & row ); + + integer cellSpacing() const; + integer cellPadding() const; + + vecCell column( integer n ) const; + integer columnWidth( integer n ) const; + integer numColumns() const; + + Style const & style() const { return m_Style; } + + void style( Style const & style ) { m_Style = style; } + + string const & title() const { return m_Title; } + + void title( string const & title ) { m_Title = title; } + + Row const & headings() const { return m_Headings; } + + void headings( vecstr const & headings ); + + Row & row( integer n ); + Row const & row( integer n ) const; + + Row & operator [] ( integer n ) { return this->row(n); } + Row const & operator [] ( integer n ) const { return this->row(n); } + + Cell & operator () ( integer i, integer j ) { return (*this)[i][j]; } + Cell const & operator () ( integer i, integer j ) const { return (*this)[i][j]; } + + vecRow const & rows() const { return m_Rows; } + void rows( vecvecstr const & rows ); + + string + renderSeparator( + char const left, + char const mid, + char const right, + char const sep + ) const; + + string render() const; + }; + } +} + +inline +Utils::ostream_type& +operator << ( Utils::ostream_type& stream, Utils::Table::Row const & row ) { + return stream << row.render(); +} + +inline +Utils::ostream_type& +operator << ( Utils::ostream_type& stream, Utils::Table::Table const & table ) { + return stream << table.render(); +} + +#endif + +/// +/// eof: Table.hxx +/// diff --git a/toolbox/src/Utils/TicToc.hxx b/toolbox/src/Utils/TicToc.hxx index 9c473310..fce7d393 100755 --- a/toolbox/src/Utils/TicToc.hxx +++ b/toolbox/src/Utils/TicToc.hxx @@ -113,32 +113,22 @@ namespace Utils { //! //! Start timing //! - void - tic() - { m_start_time = clock::now(); } + void tic(); //! //! End timing //! - void - toc() { - m_stop_time = clock::now(); - m_elapsed_time = std::chrono::duration_cast(m_stop_time - m_start_time); - } + void toc(); //! //! Return elapsed time (between tic-toc) in seconds //! - real_type - elapsed_s() const - { return 1e-6*m_elapsed_time.count(); } + real_type elapsed_s() const; //! //! Return elapsed time (between tic-toc) in milliseconds //! - real_type - elapsed_ms() const - { return 1e-3*m_elapsed_time.count(); } + real_type elapsed_ms() const; }; inline diff --git a/toolbox/src/Utils/Utils.hxx b/toolbox/src/Utils/Utils.hxx index b8690a8f..0611e979 100644 --- a/toolbox/src/Utils/Utils.hxx +++ b/toolbox/src/Utils/Utils.hxx @@ -74,11 +74,8 @@ #include "fmt/printf.h" #include "fmt/chrono.h" #include "fmt/ostream.h" - -#ifndef UTILS_OS_WINDOWS #include "zstream/izstream.hpp" #include "zstream/ozstream.hpp" -#endif #include #include @@ -114,6 +111,7 @@ #include "TicToc.hxx" #include "ThreadPool.hxx" #include "Quaternion.hxx" +#include "Table.hxx" namespace Utils { diff --git a/toolbox/src/Utils/zstream/izstream.hpp b/toolbox/src/Utils/zstream/izstream.hpp index 1fd3fe81..9a150cc0 100644 --- a/toolbox/src/Utils/zstream/izstream.hpp +++ b/toolbox/src/Utils/zstream/izstream.hpp @@ -4,13 +4,22 @@ The zlib/libpng License Copyright (c) 2003 Jonathan de Halleux. - This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. + This software is provided 'as-is', without any express or + implied warranty. In no event will the authors be held + liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: + Permission is granted to anyone to use this software + for any purpose, including commercial applications, + and to alter it and redistribute it freely, subject + to the following restrictions: - 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 1. The origin of this software must not be misrepresented; + you must not claim that you wrote the original software. + If you use this software in a product, an acknowledgment + in the product documentation would be appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 2. Altered source versions must be plainly marked as such, + and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution @@ -31,242 +40,262 @@ namespace zstream { -/** \brief A stream decorator that takes compressed input and unzips it to a istream. - - The class wraps up the deflate method of the zlib library 1.1.4 http://www.gzip.org/zlib/ - */ -template, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > +//! +//! A stream decorator that takes compressed input and unzips it to a istream. +//! +//! The class wraps up the deflate method of the zlib library 1.1.4 http://www.gzip.org/zlib/ +//! +template< + typename Elem, + typename Tr = std::char_traits, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> class basic_unzip_streambuf: public std::basic_streambuf { public: - typedef std::basic_istream& istream_reference; - typedef ElemA char_allocator_type; - typedef ByteT byte_type; - typedef ByteAT byte_allocator_type; - typedef byte_type* byte_buffer_type; - typedef typename std::basic_streambuf::char_type char_type; - typedef typename std::basic_streambuf::int_type int_type; - typedef std::vector byte_vector_type; - typedef std::vector char_vector_type; - - /** Construct a unzip stream - * More info on the following parameters can be found in the zlib documentation. - */ - basic_unzip_streambuf(istream_reference istream_, size_t window_size_, - size_t read_buffer_size_, size_t input_buffer_size_); - - ~basic_unzip_streambuf(); - - int_type underflow(); - - /// returns the compressed input istream - istream_reference get_istream() { - return m_istream; - } - - /// returns the zlib stream structure - z_stream& get_zip_stream() { - return m_zip_stream; - } - - /// returns the latest zlib error state - int get_zerr() const { - return m_err; - } - - /// returns the crc of the uncompressed data so far - unsigned int get_crc() const { - return m_crc; - } - - /// returns the number of uncompressed bytes - unsigned int get_out_size() const { - return m_zip_stream.total_out; - } - - /// returns the number of read compressed bytes - unsigned long get_in_size() const { - return m_zip_stream.total_in; - } + typedef std::basic_istream& istream_reference; + typedef ElemA char_allocator_type; + typedef ByteT byte_type; + typedef ByteAT byte_allocator_type; + typedef byte_type* byte_buffer_type; + typedef typename std::basic_streambuf::char_type char_type; + typedef typename std::basic_streambuf::int_type int_type; + typedef std::vector byte_vector_type; + typedef std::vector char_vector_type; + + //! Construct a unzip stream. + //! More info on the following parameters can be found + //! in the zlib documentation. + //! + basic_unzip_streambuf( + istream_reference istream_, + size_t window_size_, + size_t read_buffer_size_, + size_t input_buffer_size_ + ); + + ~basic_unzip_streambuf(); + + int_type underflow(); + + //! returns the compressed input istream + istream_reference get_istream() { return m_istream; } + + //! returns the zlib stream structure + z_stream& get_zip_stream() { return m_zip_stream; } + + //! returns the latest zlib error state + int get_zerr() const { return m_err; } + + //! returns the crc of the uncompressed data so far + unsigned get_crc() const { return m_crc; } + + //! returns the number of uncompressed bytes + unsigned get_out_size() const { return m_zip_stream.total_out; } + + //! returns the number of read compressed bytes + unsigned long get_in_size() const { return m_zip_stream.total_in; } private: - void put_back_from_zip_stream(); - std::streamsize unzip_from_stream(char_type*, std::streamsize); - size_t fill_input_buffer(); + void put_back_from_zip_stream(); + std::streamsize unzip_from_stream(char_type*, std::streamsize); - istream_reference m_istream; - z_stream m_zip_stream; - int m_err; - byte_vector_type m_input_buffer; - char_vector_type m_buffer; - long m_crc; -}; + size_t fill_input_buffer(); -/*! \brief Base class for unzip istreams + istream_reference m_istream; + z_stream m_zip_stream; + int m_err; + byte_vector_type m_input_buffer; + char_vector_type m_buffer; + long m_crc; +}; - Contains a basic_unzip_streambuf. - */ -template, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > +//! +//! Base class for unzip istreams. +//! +//! Contains a basic_unzip_streambuf. +//! +template< + typename Elem, + typename Tr = std::char_traits, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> class basic_zip_istreambase: virtual public std::basic_ios { public: - typedef std::basic_istream& istream_reference; - typedef basic_unzip_streambuf unzip_streambuf_type; - - basic_zip_istreambase(istream_reference ostream_, size_t window_size_, - size_t read_buffer_size_, size_t input_buffer_size_) : - m_buf(ostream_, window_size_, read_buffer_size_, input_buffer_size_) { - this->init(&m_buf); - } - - /// returns the underlying unzip istream object - unzip_streambuf_type* rdbuf() { - return &m_buf; - } - - /// returns the zlib error state - int get_zerr() const { - return m_buf.get_zerr(); - } - - /// returns the uncompressed data crc - long get_crc() const { - return m_buf.get_crc(); - } - - /// returns the uncompressed data size - long get_out_size() const { - return m_buf.get_out_size(); - } - - /// returns the compressed data size - unsigned long get_in_size() const { - return m_buf.get_in_size(); - } + typedef std::basic_istream& istream_reference; + typedef basic_unzip_streambuf unzip_streambuf_type; -private: - unzip_streambuf_type m_buf; -}; + basic_zip_istreambase( + istream_reference ostream_, + size_t window_size_, + size_t read_buffer_size_, + size_t input_buffer_size_ + ) : m_buf(ostream_, window_size_, read_buffer_size_, input_buffer_size_) { + this->init(&m_buf); + } -/*! \brief A zipper istream + //! returns the underlying unzip istream object + unzip_streambuf_type* rdbuf() { return &m_buf; } - This class is a istream decorator that behaves 'almost' like any other ostream. + //! returns the zlib error state + int get_zerr() const { return m_buf.get_zerr(); } - At construction, it takes any istream that shall be used to input of the compressed data. + //! returns the uncompressed data crc + long get_crc() const { return m_buf.get_crc(); } - Simlpe example: - \code - // create a stream on zip string - istringstream istringstream_( ostringstream_.str()); - // create unzipper istream - zip_istream unzipper( istringstream_); + //! returns the uncompressed data size + long get_out_size() const { return m_buf.get_out_size(); } - // read and unzip - unzipper>>f_r>>d_r>>ui_r>>ul_r>>us_r>>c_r>>dum_r; - \endcode - */ -template, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > -class basic_gzip_istream: public basic_zip_istreambase, public std::basic_istream { + //! returns the compressed data size + unsigned long get_in_size() const { return m_buf.get_in_size(); } + +private: + unzip_streambuf_type m_buf; +}; + +//! +//! A zipper istream. +//! +//! This class is a istream decorator that behaves 'almost' +//! like any other ostream. +//! +//! At construction, it takes any istream that shall +//! be used to input of the compressed data. +//! +//! Simlpe example: +//! +//! \code +//! // create a stream on zip string +//! istringstream istringstream_( ostringstream_.str()); +//! // create unzipper istream +//! zip_istream unzipper( istringstream_); +//! +//! // read and unzip +//! unzipper>>f_r>>d_r>>ui_r>>ul_r>>us_r>>c_r>>dum_r; +//! \endcode +//! +template< + typename Elem, + typename Tr = std::char_traits, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> +class basic_gzip_istream: + public basic_zip_istreambase, + public std::basic_istream { public: - typedef typename std::basic_istream::char_type char_type; - typedef std::basic_istream& istream_reference; - typedef basic_zip_istreambase zip_istreambase_type; - typedef std::basic_istream istream_type; - typedef unsigned char byte_type; - - /** Construct a unzipper stream - * - * \param istream_ input buffer - * \param window_size_ - * \param read_buffer_size_ - * \param input_buffer_size_ - */ - basic_gzip_istream(istream_reference istream_, size_t window_size_ = 15, - size_t read_buffer_size_ = detail::default_buffer_size, - size_t input_buffer_size_ = detail::default_buffer_size) : - zip_istreambase_type(istream_, window_size_, read_buffer_size_, - input_buffer_size_), istream_type(this->rdbuf()), m_gzip_crc( - 0), m_gzip_data_size(0) { - if (this->rdbuf()->get_zerr() == Z_OK) - check_header(); - } - - /// reads the gzip header - void read_footer(); - /** return crc check result - - When you have finished reading the compressed data, call read_footer to read the uncompressed data crc. - This method compares it to the crc of the uncompressed data. - - \return true if crc check is succesful - */ - bool check_crc() const { - return this->get_crc() == m_gzip_crc; - } - - /// return data size check - bool check_data_size() const { - return this->get_out_size() == m_gzip_data_size; - } - - /// return the crc value in the file - unsigned int get_gzip_crc() const { - return m_gzip_crc; - } - - /// return the data size in the file - unsigned int get_gzip_data_size() const { - return m_gzip_data_size; - } + typedef typename std::basic_istream::char_type char_type; + typedef std::basic_istream& istream_reference; + typedef basic_zip_istreambase zip_istreambase_type; + typedef std::basic_istream istream_type; + typedef unsigned char byte_type; + + //! + //! Construct a unzipper stream + //! + //! \param istream_ input buffer + //! \param window_size_ + //! \param read_buffer_size_ + //! \param input_buffer_size_ + //! + basic_gzip_istream( + istream_reference istream_, + size_t window_size_ = 15, + size_t read_buffer_size_ = detail::default_buffer_size, + size_t input_buffer_size_ = detail::default_buffer_size + ) + : zip_istreambase_type(istream_, window_size_, read_buffer_size_, input_buffer_size_) + , istream_type(this->rdbuf()) + , m_gzip_crc(0) + , m_gzip_data_size(0) + { + if ( this->rdbuf()->get_zerr() == Z_OK ) check_header(); + } + + //! reads the gzip header + void read_footer(); + //! + //! Return crc check result + //! + //! When you have finished reading the compressed data, + //! call read_footer to read the uncompressed data crc. + //! This method compares it to the crc of the uncompressed data. + //! + //! \return true if crc check is succesful + //! + bool + check_crc() const { + return this->get_crc() == m_gzip_crc; + } + + //! return data size check + bool + check_data_size() const { + return this->get_out_size() == m_gzip_data_size; + } + + //! return the crc value in the file + unsigned get_gzip_crc() const { return m_gzip_crc; } + + //! return the data size in the file + unsigned get_gzip_data_size() const { return m_gzip_data_size; } protected: - static void read_long(istream_reference in_, unsigned int& x_); - int check_header(); - unsigned int m_gzip_crc; - unsigned int m_gzip_data_size; + static void read_long(istream_reference in_, unsigned int& x_); + int check_header(); + unsigned m_gzip_crc; + unsigned m_gzip_data_size; }; -template, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > -class basic_zip_istream: public basic_zip_istreambase, public std::basic_istream { +template< + typename Elem, + typename Tr = std::char_traits, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> +class basic_zip_istream + : public basic_zip_istreambase + , public std::basic_istream { public: - typedef typename std::basic_istream::char_type char_type; - typedef std::basic_istream& istream_reference; - typedef basic_zip_istreambase zip_istreambase_type; - typedef std::basic_istream istream_type; - typedef unsigned char byte_type; - - /** Construct a unzipper stream - * - * \param istream_ input buffer - * \param window_size_ - * \param read_buffer_size_ - * \param input_buffer_size_ - */ - basic_zip_istream(istream_reference istream_, size_t window_size_ = 15, - size_t read_buffer_size_ = detail::default_buffer_size, - size_t input_buffer_size_ = detail::default_buffer_size) : - zip_istreambase_type(istream_, window_size_, read_buffer_size_, - input_buffer_size_), istream_type(this->rdbuf()) { - } + typedef typename std::basic_istream::char_type char_type; + typedef std::basic_istream& istream_reference; + typedef basic_zip_istreambase zip_istreambase_type; + typedef std::basic_istream istream_type; + typedef unsigned char byte_type; + + //! + //! Construct a unzipper stream + //! + //! \param istream_ input buffer + //! \param window_size_ + //! \param read_buffer_size_ + //! \param input_buffer_size_ + //! + basic_zip_istream( + istream_reference istream_, + size_t window_size_ = 15, + size_t read_buffer_size_ = detail::default_buffer_size, + size_t input_buffer_size_ = detail::default_buffer_size + ) + : zip_istreambase_type(istream_, window_size_, read_buffer_size_, input_buffer_size_) + , istream_type(this->rdbuf()) + {} }; -/// A typedef for basic_zip_istream +//! A typedef for basic_zip_istream typedef basic_gzip_istream igzstream; -/// A typedef for basic_zip_istream +//! A typedef for basic_zip_istream typedef basic_gzip_istream wigzstream; -/// A typedef for basic_zip_istream +//! A typedef for basic_zip_istream typedef basic_zip_istream izstream; -/// A typedef for basic_zip_istream +//! A typedef for basic_zip_istream typedef basic_zip_istream wizstream; } // zstream diff --git a/toolbox/src/Utils/zstream/izstream_impl.hpp b/toolbox/src/Utils/zstream/izstream_impl.hpp index 56f08eb4..6f31fb76 100644 --- a/toolbox/src/Utils/zstream/izstream_impl.hpp +++ b/toolbox/src/Utils/zstream/izstream_impl.hpp @@ -4,13 +4,22 @@ The zlib/libpng License Copyright (c) 2003 Jonathan de Halleux. - This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. + This software is provided 'as-is', without any express + or implied warranty. In no event will the authors be held + liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: + Permission is granted to anyone to use this software + for any purpose, including commercial applications, + and to alter it and redistribute it freely, subject + to the following restrictions: - 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 1. The origin of this software must not be misrepresented; + you must not claim that you wrote the original software. + If you use this software in a product, an acknowledgment + in the product documentation would be appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 2. Altered source versions must be plainly marked as such, + and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution @@ -39,10 +48,11 @@ basic_unzip_streambuf::basic_unzip_streambuf( size_t window_size_, size_t read_buffer_size_, size_t input_buffer_size_ -) : m_istream(istream_) - , m_input_buffer(input_buffer_size_) - , m_buffer(read_buffer_size_) - , m_crc(0) +) +: m_istream(istream_) +, m_input_buffer(input_buffer_size_) +, m_buffer(read_buffer_size_) +, m_crc(0) { // setting zalloc, zfree and opaque m_zip_stream.zalloc = (alloc_func) 0; @@ -71,8 +81,8 @@ size_t basic_unzip_streambuf::fill_input_buffer() { m_zip_stream.next_in = &(m_input_buffer[0]); m_istream.read( - (char_type*) (&(m_input_buffer[0])), - static_cast(m_input_buffer.size()/sizeof(char_type)) + (char_type*) (&(m_input_buffer[0])), + static_cast(m_input_buffer.size()/sizeof(char_type)) ); return m_zip_stream.avail_in = m_istream.gcount() * sizeof(char_type); } @@ -103,9 +113,11 @@ basic_unzip_streambuf::underflow() { int n_putback = static_cast(this->gptr() - this->eback()); if (n_putback > 4) n_putback = 4; - memcpy( &(m_buffer[0]) + (4 - n_putback), - this->gptr() - n_putback, - n_putback * sizeof(char_type) ); + memcpy( + &(m_buffer[0]) + (4 - n_putback), + this->gptr() - n_putback, + n_putback * sizeof(char_type) + ); int num = unzip_from_stream( &(m_buffer[0]) + 4, @@ -115,9 +127,11 @@ basic_unzip_streambuf::underflow() { return EOF; // reset buffer pointers - this->setg(&(m_buffer[0]) + (4 - n_putback), // beginning of putback area - &(m_buffer[0]) + 4, // read position - &(m_buffer[0]) + 4 + num); // end of buffer + this->setg( + &(m_buffer[0]) + (4 - n_putback), // beginning of putback area + &(m_buffer[0]) + 4, // read position + &(m_buffer[0]) + 4 + num // end of buffer + ); // return next character return *reinterpret_cast(this->gptr()); @@ -146,9 +160,9 @@ basic_unzip_streambuf::unzip_from_stream( // updating crc m_crc = crc32( - m_crc, - (byte_buffer_type) buffer_, - buffer_size_ - m_zip_stream.avail_out / sizeof(char_type) + m_crc, + (byte_buffer_type) buffer_, + buffer_size_ - m_zip_stream.avail_out / sizeof(char_type) ); std::streamsize n_read = buffer_size_ - m_zip_stream.avail_out / sizeof(char_type); @@ -182,8 +196,8 @@ template< > int basic_gzip_istream::check_header() { - int method; /* method byte */ - int flags; /* flags byte */ + int method; /* method byte */ + int flags; /* flags byte */ uInt len; int c; int err = 0; @@ -200,7 +214,7 @@ basic_gzip_istream::check_header() { } err = zip_stream.avail_in != 0 ? Z_OK : Z_STREAM_END; return err; - } + } } method = (int) this->rdbuf()->get_istream().get(); diff --git a/toolbox/src/Utils/zstream/ozstream.hpp b/toolbox/src/Utils/zstream/ozstream.hpp index b3c95f13..947b1169 100644 --- a/toolbox/src/Utils/zstream/ozstream.hpp +++ b/toolbox/src/Utils/zstream/ozstream.hpp @@ -4,13 +4,22 @@ The zlib/libpng License Copyright (c) 2003 Jonathan de Halleux. - This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. + This software is provided 'as-is', without any express or + implied warranty. In no event will the authors be held + liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: + Permission is granted to anyone to use this software + for any purpose, including commercial applications, + and to alter it and redistribute it freely, subject + to the following restrictions: - 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 1. The origin of this software must not be misrepresented; + you must not claim that you wrote the original software. + If you use this software in a product, an acknowledgment + in the product documentation would be appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 2. Altered source versions must be plainly marked as such, + and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution @@ -31,264 +40,288 @@ namespace zstream { -/** \brief A stream decorator that takes raw input and zips it to a ostream. - - The class wraps up the inflate method of the zlib library - */ -template, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > +//! +//! A stream decorator that takes raw input and zips it to a ostream. +//! +//! The class wraps up the inflate method of the zlib library +//! +template< + typename Elem, + typename Tr = std::char_traits, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> class basic_zip_streambuf: public std::basic_streambuf { public: - typedef std::basic_ostream& ostream_reference; - typedef ElemA char_allocator_type; - typedef ByteT byte_type; - typedef ByteAT byte_allocator_type; - typedef byte_type* byte_buffer_type; - typedef typename std::basic_streambuf::char_type char_type; - typedef typename std::basic_streambuf::int_type int_type; - typedef std::vector byte_vector_type; - typedef std::vector char_vector_type; - - /** Construct a zip stream - * More info on the following parameters can be found in the zlib documentation. - */ - basic_zip_streambuf(ostream_reference ostream_, size_t level_, - EStrategy strategy_, size_t window_size_, size_t memory_level_, - size_t buffer_size_); - - ~basic_zip_streambuf(); - - int sync(); - int_type overflow(int_type c); - - /** flushes the zip buffer and output buffer. - - This method should be called at the end of the compression. Calling flush multiple times, will lower the - compression ratio. - */ - std::streamsize zfinish(); - - /// returns a reference to the output stream - ostream_reference get_ostream() const { - return m_ostream; - } - - /// returns the latest zlib error status - int get_zerr() const { - return m_err; - } - - /// returns the crc of the input data compressed so far. - long get_crc() const { - return m_crc; - } - - /// returns the size (bytes) of the input data compressed so far. - long get_in_size() const { - return m_zip_stream.total_in; - } - - /// returns the size (bytes) of the compressed data so far. - long get_out_size() const { - return m_zip_stream.total_out; - } + typedef std::basic_ostream& ostream_reference; + typedef ElemA char_allocator_type; + typedef ByteT byte_type; + typedef ByteAT byte_allocator_type; + typedef byte_type* byte_buffer_type; + typedef typename std::basic_streambuf::char_type char_type; + typedef typename std::basic_streambuf::int_type int_type; + typedef std::vector byte_vector_type; + typedef std::vector char_vector_type; + + //! Construct a zip stream. + //! + //! More info on the following parameters can be + //! found in the zlib documentation. + //! + basic_zip_streambuf( + ostream_reference ostream_, + size_t level_, + EStrategy strategy_, + size_t window_size_, + size_t memory_level_, + size_t buffer_size_ + ); + + ~basic_zip_streambuf(); + + int sync(); + int_type overflow(int_type c); + + //! + //! Flushes the zip buffer and output buffer. + //! + //! This method should be called at the end of the compression. Calling flush multiple times, will lower the + //! compression ratio. + //! + std::streamsize zfinish(); + + //! returns a reference to the output stream + ostream_reference get_ostream() const { return m_ostream; } + + //! returns the latest zlib error status + int get_zerr() const { return m_err; } + + //! returns the crc of the input data compressed so far. + long get_crc() const { return m_crc; } + + //! returns the size (bytes) of the input data compressed so far. + long get_in_size() const { return m_zip_stream.total_in; } + + //! returns the size (bytes) of the compressed data so far. + long get_out_size() const { return m_zip_stream.total_out; } private: - bool zip_to_stream(char_type*, std::streamsize); - std::streamsize zip_write(int flag); - - ostream_reference m_ostream; - z_stream m_zip_stream; - int m_err; - byte_vector_type m_output_buffer; - char_vector_type m_buffer; - long m_crc; + bool zip_to_stream(char_type*, std::streamsize); + std::streamsize zip_write(int flag); + + ostream_reference m_ostream; + z_stream m_zip_stream; + int m_err; + byte_vector_type m_output_buffer; + char_vector_type m_buffer; + long m_crc; }; -/*! \brief Base class for zip ostreams - - Contains a basic_zip_streambuf. - */ -template, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > +//! +//! Base class for zip ostreams. +//! +//! Contains a basic_zip_streambuf. +//! +template< + typename Elem, + typename Tr = std::char_traits, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> class basic_zip_ostreambase: virtual public std::basic_ios { public: - typedef std::basic_ostream& ostream_reference; - typedef basic_zip_streambuf zip_streambuf_type; - - /** Construct a zip stream - * More info on the following parameters can be found in the zlib documentation. - */ - basic_zip_ostreambase(ostream_reference ostream_, size_t level_, - EStrategy strategy_, size_t window_size_, size_t memory_level_, - size_t buffer_size_) : - m_buf(ostream_, level_, strategy_, window_size_, memory_level_, - buffer_size_) { - this->init(&m_buf); - } - - /// returns the underlying zip ostream object - zip_streambuf_type* rdbuf() { - return &m_buf; - } - - /// returns the zlib error state - int get_zerr() const { - return m_buf.get_zerr(); - } - - /// returns the uncompressed data crc - long get_crc() const { - return m_buf.get_crc(); - } - - /// returns the compressed data size - long get_out_size() const { - return m_buf.get_out_size(); - } - - /// returns the uncompressed data size - long get_in_size() const { - return m_buf.get_in_size(); - } + typedef std::basic_ostream& ostream_reference; + typedef basic_zip_streambuf zip_streambuf_type; + + //! + //! Construct a zip stream. + //! + //! More info on the following parameters can be + //! found in the zlib documentation. + //! + basic_zip_ostreambase( + ostream_reference ostream_, + size_t level_, + EStrategy strategy_, + size_t window_size_, + size_t memory_level_, + size_t buffer_size_ + ) : m_buf(ostream_, level_, strategy_, window_size_, memory_level_, buffer_size_) { + this->init(&m_buf); + } + + //! Returns the underlying zip ostream object + zip_streambuf_type* rdbuf() { return &m_buf; } + + //! Returns the zlib error state + int get_zerr() const { return m_buf.get_zerr(); } + + //! Returns the uncompressed data crc + long get_crc() const { return m_buf.get_crc(); } + + //! Returns the compressed data size + long get_out_size() const { return m_buf.get_out_size(); } + + //! Returns the uncompressed data size + long get_in_size() const { return m_buf.get_in_size(); } private: - zip_streambuf_type m_buf; + zip_streambuf_type m_buf; }; -/*! \brief A zipper ostream - - This class is a ostream decorator that behaves 'almost' like any other ostream. - - At construction, it takes any ostream that shall be used to output of the compressed data. - - When finished, you need to call the special method close or call the destructor - to flush all the intermidiate streams. - - Example: - \code - // creating the target zip string, could be a fstream - ostringstream ostringstream_; - // creating the zip layer - zip_ostream zipper(ostringstream_); - - - // writing data - zipper<, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > -class basic_gzip_ostream: public basic_zip_ostreambase, public std::basic_ostream { +//! +//! A zipper ostream. +//! +//! This class is a ostream decorator that behaves 'almost' +//! like any other ostream. +//! +//! At construction, it takes any ostream that shall +//! be used to output of the compressed data. +//! +//! When finished, you need to call the special method +//! close or call the destructor +//! to flush all the intermidiate streams. +//! +//! Example: +//! +//! \code +//! // creating the target zip string, could be a fstream +//! ostringstream ostringstream_; +//! // creating the zip layer +//! zip_ostream zipper(ostringstream_); +//! +//! +//! // writing data +//! zipper<, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> +class basic_gzip_ostream + : public basic_zip_ostreambase + , public std::basic_ostream { public: - typedef typename std::basic_ostream::char_type char_type; - typedef std::basic_ostream& ostream_reference; - typedef basic_zip_ostreambase zip_ostreambase_type; - typedef std::basic_ostream ostream_type; - - /** Constructs a zipper ostream decorator - * - * \param ostream_ ostream where the compressed output is written - * \param is_gzip_ true if gzip header and footer have to be added - * \param level_ level of compression 0, bad and fast, 9, good and slower, - * \param strategy_ compression strategy - * \param window_size_ see zlib doc - * \param memory_level_ see zlib doc - * \param buffer_size_ the buffer size used to zip data - - When is_gzip_ is true, a gzip header and footer is automatically added. - */ - basic_gzip_ostream(ostream_reference ostream_, - size_t level_ = Z_DEFAULT_COMPRESSION, EStrategy strategy_ = - DefaultStrategy, size_t window_size_ = 15, - size_t memory_level_ = 8, size_t buffer_size_ = detail::default_buffer_size) : - zip_ostreambase_type(ostream_, level_, strategy_, window_size_, - memory_level_, buffer_size_), ostream_type(this->rdbuf()), - m_closed(false) { - add_header(); - } - - ~basic_gzip_ostream() { - close(); - } - - void close() { - if (m_closed) - return; - this->flush(); - this->rdbuf()->zfinish(); - add_footer(); - m_closed = true; - } + typedef typename std::basic_ostream::char_type char_type; + typedef std::basic_ostream& ostream_reference; + typedef basic_zip_ostreambase zip_ostreambase_type; + typedef std::basic_ostream ostream_type; + + //! + //! Constructs a zipper ostream decorator + //! + //! \param ostream_ ostream where the compressed output is written + //! \param is_gzip_ true if gzip header and footer have to be added + //! \param level_ level of compression 0, bad and fast, 9, good and slower, + //! \param strategy_ compression strategy + //! \param window_size_ see zlib doc + //! \param memory_level_ see zlib doc + //! \param buffer_size_ the buffer size used to zip data + //! + //! When is_gzip_ is true, a gzip header and footer is automatically added. + //! + basic_gzip_ostream( + ostream_reference ostream_, + size_t level_ = Z_DEFAULT_COMPRESSION, + EStrategy strategy_ = DefaultStrategy, size_t window_size_ = 15, + size_t memory_level_ = 8, + size_t buffer_size_ = detail::default_buffer_size + ) + : zip_ostreambase_type(ostream_, level_, strategy_, window_size_, memory_level_, buffer_size_) + , ostream_type(this->rdbuf()) + , m_closed(false) { + add_header(); + } + + ~basic_gzip_ostream() { close(); } + + void + close() { + if ( m_closed ) return; + this->flush(); + this->rdbuf()->zfinish(); + add_footer(); + m_closed = true; + } private: - static void put_long(ostream_reference out_, unsigned int x_); - void add_header(); - void add_footer(); - bool m_closed; + static void put_long(ostream_reference out_, unsigned int x_); + void add_header(); + void add_footer(); + bool m_closed; }; -template, - typename ElemA = std::allocator, typename ByteT = unsigned char, - typename ByteAT = std::allocator > -class basic_zip_ostream: public basic_zip_ostreambase, public std::basic_ostream { +template< + typename Elem, + typename Tr = std::char_traits, + typename ElemA = std::allocator, + typename ByteT = unsigned char, + typename ByteAT = std::allocator +> +class basic_zip_ostream + : public basic_zip_ostreambase + , public std::basic_ostream { public: - typedef typename std::basic_ostream::char_type char_type; - typedef std::basic_ostream& ostream_reference; - typedef basic_zip_ostreambase zip_ostreambase_type; - typedef std::basic_ostream ostream_type; - - /** Constructs a zipper ostream decorator - * - * \param ostream_ ostream where the compressed output is written - * \param is_gzip_ true if gzip header and footer have to be added - * \param level_ level of compression 0, bad and fast, 9, good and slower, - * \param strategy_ compression strategy - * \param window_size_ see zlib doc - * \param memory_level_ see zlib doc - * \param buffer_size_ the buffer size used to zip data - - When is_gzip_ is true, a gzip header and footer is automatically added. - */ - basic_zip_ostream(ostream_reference ostream_, - size_t level_ = Z_DEFAULT_COMPRESSION, EStrategy strategy_ = - DefaultStrategy, size_t window_size_ = 15, - size_t memory_level_ = 8, size_t buffer_size_ = detail::default_buffer_size) : - zip_ostreambase_type(ostream_, level_, strategy_, window_size_, - memory_level_, buffer_size_), ostream_type(this->rdbuf()), - m_closed(false) { - } - - ~basic_zip_ostream() { - close(); - } - - void close() { - if (m_closed) - return; - this->flush(); - this->rdbuf()->zfinish(); - m_closed = true; - } + typedef typename std::basic_ostream::char_type char_type; + typedef std::basic_ostream& ostream_reference; + typedef basic_zip_ostreambase zip_ostreambase_type; + typedef std::basic_ostream ostream_type; + + //! + //! Constructs a zipper ostream decorator + //! + //! \param ostream_ ostream where the compressed output is written + //! \param is_gzip_ true if gzip header and footer have to be added + //! \param level_ level of compression 0, bad and fast, 9, good and slower, + //! \param strategy_ compression strategy + //! \param window_size_ see zlib doc + //! \param memory_level_ see zlib doc + //! \param buffer_size_ the buffer size used to zip data + //! + //! When is_gzip_ is true, a gzip header and footer is automatically added. + //! + basic_zip_ostream( + ostream_reference ostream_, + size_t level_ = Z_DEFAULT_COMPRESSION, + EStrategy strategy_ = DefaultStrategy, + size_t window_size_ = 15, + size_t memory_level_ = 8, + size_t buffer_size_ = detail::default_buffer_size + ) + : zip_ostreambase_type(ostream_, level_, strategy_, window_size_, memory_level_, buffer_size_) + , ostream_type(this->rdbuf()) + , m_closed(false) + { } + + ~basic_zip_ostream() { close(); } + + void + close() { + if ( m_closed ) return; + this->flush(); + this->rdbuf()->zfinish(); + m_closed = true; + } private: - bool m_closed; + bool m_closed; }; -/// A typedef for basic_zip_ostream +//! A typedef for basic_zip_ostream typedef basic_gzip_ostream ogzstream; -/// A typedef for basic_zip_ostream +//! A typedef for basic_zip_ostream typedef basic_gzip_ostream wgzostream; -/// A typedef for basic_zip_ostream +//! A typedef for basic_zip_ostream typedef basic_zip_ostream ozstream; -/// A typedef for basic_zip_ostream +//! A typedef for basic_zip_ostream typedef basic_zip_ostream wzostream; } // zstream @@ -296,4 +329,3 @@ typedef basic_zip_ostream wzostream; #include "ozstream_impl.hpp" #endif - diff --git a/toolbox/src/Utils/zstream/ozstream_impl.hpp b/toolbox/src/Utils/zstream/ozstream_impl.hpp index f894f6dd..2ed5e762 100644 --- a/toolbox/src/Utils/zstream/ozstream_impl.hpp +++ b/toolbox/src/Utils/zstream/ozstream_impl.hpp @@ -4,13 +4,22 @@ The zlib/libpng License Copyright (c) 2003 Jonathan de Halleux. - This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. + This software is provided 'as-is', without any express or + implied warranty. In no event will the authors be held + liable for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: + Permission is granted to anyone to use this software + for any purpose, including commercial applications, + and to alter it and redistribute it freely, subject + to the following restrictions: - 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 1. The origin of this software must not be misrepresented; + you must not claim that you wrote the original software. + If you use this software in a product, an acknowledgment + in the product documentation would be appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 2. Altered source versions must be plainly marked as such, + and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution @@ -22,7 +31,7 @@ #define OUTPUT_ZIP_STREAM_IMPL_HPP #include "ozstream.hpp" -#include "zlib.h" +#include #include #include @@ -32,183 +41,248 @@ namespace zstream { -template +template < + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> basic_zip_streambuf::basic_zip_streambuf( - ostream_reference ostream_, size_t level_, EStrategy strategy_, - size_t window_size_, size_t memory_level_, size_t buffer_size_) : - m_ostream(ostream_), m_output_buffer(buffer_size_, 0), m_buffer( - buffer_size_, 0), m_crc(0) { - m_zip_stream.zalloc = (alloc_func) 0; - m_zip_stream.zfree = (free_func) 0; - - m_zip_stream.next_in = NULL; - m_zip_stream.avail_in = 0; - m_zip_stream.avail_out = 0; - m_zip_stream.next_out = NULL; - - m_err = deflateInit2(&m_zip_stream, std::min(9, static_cast(level_)), - Z_DEFLATED, - -static_cast(window_size_), // <-- changed - std::min(9, static_cast(memory_level_)), - static_cast(strategy_)); - - m_zip_stream.avail_out = static_cast(m_output_buffer.size()); - m_zip_stream.next_out = &(m_output_buffer[0]); - - char_type *p = &(m_buffer[0]); - this->setp(p, p + buffer_size_); + ostream_reference ostream_, + size_t level_, + EStrategy strategy_, + size_t window_size_, + size_t memory_level_, + size_t buffer_size_ +) +: m_ostream(ostream_) +, m_output_buffer(buffer_size_, 0) +, m_buffer(buffer_size_, 0) +, m_crc(0) +{ + m_zip_stream.zalloc = (alloc_func) 0; + m_zip_stream.zfree = (free_func) 0; + + m_zip_stream.next_in = NULL; + m_zip_stream.avail_in = 0; + m_zip_stream.avail_out = 0; + m_zip_stream.next_out = NULL; + + m_err = deflateInit2( + &m_zip_stream, std::min(9, static_cast(level_)), + Z_DEFLATED, + -static_cast(window_size_), // <-- changed + std::min(9, static_cast(memory_level_)), + static_cast(strategy_) + ); + + m_zip_stream.avail_out = static_cast(m_output_buffer.size()); + m_zip_stream.next_out = &(m_output_buffer[0]); + + char_type *p = &(m_buffer[0]); + this->setp(p, p + buffer_size_); } -template +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> basic_zip_streambuf::~basic_zip_streambuf() { } -template -int basic_zip_streambuf::sync() { - int c = overflow(EOF); - if (c == EOF) - return -1; - else - return 0; +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +int +basic_zip_streambuf::sync() { + int c = overflow(EOF); + if ( c == EOF ) return -1; + else return 0; } -template -typename basic_zip_streambuf::int_type basic_zip_streambuf< - Elem, Tr, ElemA, ByteT, ByteAT>::overflow( - typename basic_zip_streambuf::int_type c) { - // buffer full, zip it.. - int w = static_cast(this->pptr() - this->pbase()); - if (w > 0) { - if (zip_to_stream(this->pbase(), w)) { - this->setp(this->pbase(), this->epptr()); - } else { - return EOF; - } - } - - // write c if not EOF - if (c != EOF) { - *this->pptr() = c; - this->pbump(1); - return c; - } else { - return 0; - } - +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +typename basic_zip_streambuf::int_type +basic_zip_streambuf::overflow( + typename basic_zip_streambuf::int_type c +) { + // buffer full, zip it.. + int w = static_cast(this->pptr() - this->pbase()); + if (w > 0) { + if (zip_to_stream(this->pbase(), w)) { + this->setp(this->pbase(), this->epptr()); + } else { + return EOF; + } + } + + // write c if not EOF + if (c != EOF) { + *this->pptr() = c; + this->pbump(1); + return c; + } else { + return 0; + } } -template -std::streamsize basic_zip_streambuf::zip_write( - int flag) { - std::streamsize total_written_byte_size = 0; - - m_err = ::deflate(&m_zip_stream, flag); - - if (m_err == Z_OK || m_err == Z_STREAM_END) { - std::streamsize written_byte_size = - static_cast(m_output_buffer.size()) - - m_zip_stream.avail_out; - if (written_byte_size > 0) { - total_written_byte_size += written_byte_size; - // ouput buffer is full, dumping to ostream - m_ostream.write((const char_type*) &(m_output_buffer[0]), - static_cast(written_byte_size - / sizeof(char_type))); - - // checking if some bytes were not written. - size_t remainder = written_byte_size % sizeof(char_type); - if (remainder != 0) { - // copy to the beginning of the stream - memcpy(&(m_output_buffer[0]), - &(m_output_buffer[written_byte_size - remainder]), - remainder); - - } - - m_zip_stream.avail_out = static_cast(m_output_buffer.size() - - remainder); - m_zip_stream.next_out = &m_output_buffer[remainder]; - } - } - - return total_written_byte_size; +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +std::streamsize +basic_zip_streambuf::zip_write( int flag ) { + std::streamsize total_written_byte_size = 0; + + m_err = ::deflate(&m_zip_stream, flag); + + if ( m_err == Z_OK || m_err == Z_STREAM_END ) { + std::streamsize written_byte_size = + static_cast(m_output_buffer.size()) + - m_zip_stream.avail_out; + if (written_byte_size > 0) { + total_written_byte_size += written_byte_size; + // ouput buffer is full, dumping to ostream + m_ostream.write( + (const char_type*) &(m_output_buffer[0]), + static_cast(written_byte_size/sizeof(char_type)) + ); + + // checking if some bytes were not written. + size_t remainder = written_byte_size % sizeof(char_type); + if ( remainder != 0 ) { + // copy to the beginning of the stream + memcpy( + &(m_output_buffer[0]), + &(m_output_buffer[written_byte_size - remainder]), + remainder + ); + } + + m_zip_stream.avail_out = static_cast(m_output_buffer.size() - remainder); + m_zip_stream.next_out = &m_output_buffer[remainder]; + } + } + return total_written_byte_size; } -template -bool basic_zip_streambuf::zip_to_stream( - typename basic_zip_streambuf::char_type* buffer_, - std::streamsize buffer_size_) { - - m_zip_stream.next_in = (byte_buffer_type) buffer_; - m_zip_stream.avail_in = static_cast(buffer_size_ * sizeof(char_type)); - - // updating crc - m_crc = ::crc32(m_crc, m_zip_stream.next_in, m_zip_stream.avail_in); - - do { - zip_write(0); - } while (m_zip_stream.avail_in != 0 && m_err == Z_OK); - - return m_err == Z_OK; +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +bool +basic_zip_streambuf::zip_to_stream( + typename basic_zip_streambuf::char_type* buffer_, + std::streamsize buffer_size_ +) { + m_zip_stream.next_in = (byte_buffer_type) buffer_; + m_zip_stream.avail_in = static_cast(buffer_size_ * sizeof(char_type)); + + // updating crc + m_crc = ::crc32(m_crc, m_zip_stream.next_in, m_zip_stream.avail_in); + + do { + zip_write(0); + } while (m_zip_stream.avail_in != 0 && m_err == Z_OK); + + return m_err == Z_OK; } -template -std::streamsize basic_zip_streambuf::zfinish() { - std::streamsize total_written_byte_size = 0; - - this->sync(); +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +std::streamsize +basic_zip_streambuf::zfinish() { + std::streamsize total_written_byte_size = 0; - // updating crc - m_crc = crc32(m_crc, m_zip_stream.next_in, m_zip_stream.avail_in); + this->sync(); - do { - total_written_byte_size += zip_write(Z_FINISH); - } while (m_err == Z_OK); + // updating crc + m_crc = crc32(m_crc, m_zip_stream.next_in, m_zip_stream.avail_in); - m_ostream.flush(); + do { + total_written_byte_size += zip_write(Z_FINISH); + } while (m_err == Z_OK); - m_err = deflateEnd(&m_zip_stream); + m_ostream.flush(); + m_err = deflateEnd(&m_zip_stream); - return total_written_byte_size; + return total_written_byte_size; } -template -void basic_gzip_ostream::put_long( - typename basic_gzip_ostream::ostream_reference out_, - unsigned int x_) { - static const int size_ul = sizeof(unsigned int); - static const int size_c = sizeof(char_type); - static const int n_end = size_ul / size_c; - out_.write(reinterpret_cast(&x_), n_end); +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +void +basic_gzip_ostream::put_long( + typename basic_gzip_ostream::ostream_reference out_, + unsigned int x_ +) { + static const int size_ul = sizeof(unsigned int); + static const int size_c = sizeof(char_type); + static const int n_end = size_ul / size_c; + out_.write(reinterpret_cast(&x_), n_end); } -template -void basic_gzip_ostream::add_header() { - char_type zero = 0; - - this->rdbuf()->get_ostream().put( - static_cast(detail::gz_magic[0])).put( - static_cast(detail::gz_magic[1])).put( - static_cast(Z_DEFLATED)).put(zero) //flags - .put(zero).put(zero).put(zero).put(zero) // time - .put(zero) //xflags - .put(static_cast(OS_CODE)); +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +void +basic_gzip_ostream::add_header() { + char_type zero = 0; + this->rdbuf()->get_ostream().put( + static_cast(detail::gz_magic[0])).put( + static_cast(detail::gz_magic[1])).put( + static_cast(Z_DEFLATED) + ) + .put(zero) //flags + .put(zero).put(zero).put(zero).put(zero) // time + .put(zero) //xflags + .put(static_cast(OS_CODE)); } -template -void basic_gzip_ostream::add_footer() { - put_long(this->rdbuf()->get_ostream(), this->rdbuf()->get_crc()); - put_long(this->rdbuf()->get_ostream(), this->rdbuf()->get_in_size()); +template< + typename Elem, + typename Tr, + typename ElemA, + typename ByteT, + typename ByteAT +> +void +basic_gzip_ostream::add_footer() { + put_long(this->rdbuf()->get_ostream(), this->rdbuf()->get_crc()); + put_long(this->rdbuf()->get_ostream(), this->rdbuf()->get_in_size()); } } // zstream diff --git a/toolbox/src/Utils/zstream/zstream_common.hpp b/toolbox/src/Utils/zstream/zstream_common.hpp index f7aaf0fd..fc2a0c31 100644 --- a/toolbox/src/Utils/zstream/zstream_common.hpp +++ b/toolbox/src/Utils/zstream/zstream_common.hpp @@ -4,13 +4,22 @@ The zlib/libpng License Copyright (c) 2003 Jonathan de Halleux. - This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. + This software is provided 'as-is', without any express or + implied warranty. In no event will the authors be held liable + for any damages arising from the use of this software. - Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: + Permission is granted to anyone to use this software for + any purpose, including commercial applications, and to + alter it and redistribute it freely, subject to the + following restrictions: - 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. + 1. The origin of this software must not be misrepresented; + you must not claim that you wrote the original software. + If you use this software in a product, an acknowledgment + in the product documentation would be appreciated but is not required. - 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. + 2. Altered source versions must be plainly marked as such, + and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution @@ -25,28 +34,30 @@ namespace zstream { -/// Compression strategy, see zlib doc. +//! Compression strategy, see zlib doc. enum EStrategy { - StrategyFiltered = 1, StrategyHuffmanOnly = 2, DefaultStrategy = 0 + StrategyFiltered = 1, + StrategyHuffmanOnly = 2, + DefaultStrategy = 0 }; namespace detail { -/// default gzip buffer size, -/// change this to suite your needs -const size_t default_buffer_size = 4096; - -const int gz_magic[2] = { 0x1f, 0x8b }; /* gzip magic header */ - -/* gzip flag byte */ -const int gz_ascii_flag = 0x01; /* bit 0 set: file probably ascii text */ -const int gz_head_crc = 0x02; /* bit 1 set: header CRC present */ -const int gz_extra_field = 0x04; /* bit 2 set: extra field present */ -const int gz_orig_name = 0x08; /* bit 3 set: original file name present */ -const int gz_comment = 0x10; /* bit 4 set: file comment present */ -const int gz_reserved = 0xE0; /* bits 5..7: reserved */ - -} // detail + + //! default gzip buffer size, + //! change this to suite your needs + const size_t default_buffer_size = 4096; + + const int gz_magic[2] = { 0x1f, 0x8b }; /* gzip magic header */ + + /* gzip flag byte */ + const int gz_ascii_flag = 0x01; /* bit 0 set: file probably ascii text */ + const int gz_head_crc = 0x02; /* bit 1 set: header CRC present */ + const int gz_extra_field = 0x04; /* bit 2 set: extra field present */ + const int gz_orig_name = 0x08; /* bit 3 set: original file name present */ + const int gz_comment = 0x10; /* bit 4 set: file comment present */ + const int gz_reserved = 0xE0; /* bits 5..7: reserved */ + + } // detail } // zstream #endif - diff --git a/toolbox/tests/silverstone.txt b/toolbox/tests/silverstone.txt index f37b9920..dea527ee 100644 --- a/toolbox/tests/silverstone.txt +++ b/toolbox/tests/silverstone.txt @@ -1,185 +1,185 @@ # x y theta kappa # segment n.1 -0.00000000000 0.00000000000 0.0799640000000 0.00000000000 -211.414306437 16.9416586868 0.0799640000000 0.00000000000 +0.0000000000000000000 0.0000000000000000000 0.079963999999999993418 0.0000000000000000000 +211.41430643709369974 16.941658686784002441 0.079963999999999993418 0.0000000000000000000 # segment n.2 -211.414306437 16.9416586868 0.0799640000000 -0.0123310000000 -295.389175149 -40.0032116961 -1.27174121793 -0.0123310000000 +211.41430643709369974 16.941658686784002441 0.079963999999999993418 -0.012330999999999999947 +295.38917514943426568 -40.003211696131202757 -1.2717412179290001895 -0.012330999999999999947 # segment n.3 -295.389175149 -40.0032116961 -1.27174121793 0.00000000000 -331.075042174 -155.753204907 -1.27174121793 0.00000000000 +295.38917514943426568 -40.003211696131202757 -1.2717412179290001895 0.0000000000000000000 +331.07504217427583626 -155.75320490665887974 -1.2717412179290001895 0.0000000000000000000 # segment n.4 -331.075042174 -155.753204907 -1.27174121793 -0.00192600000000 -353.489857217 -283.147952129 -1.52152128626 -0.00192600000000 +331.07504217427583626 -155.75320490665887974 -1.2717412179290001895 -0.0019259999999999999776 +353.48985721745697219 -283.14795212943704428 -1.5215212862630003166 -0.0019259999999999999776 # segment n.5 -353.489857217 -283.147952129 -1.52152128626 0.00000000000 -362.190414953 -459.576317579 -1.52152128626 0.00000000000 +353.48985721745697219 -283.14795212943704428 -1.5215212862630003166 0.0000000000000000000 +362.19041495333806324 -459.57631757862424138 -1.5215212862630003166 0.0000000000000000000 # segment n.6 -362.190414953 -459.576317579 -1.52152128626 0.00507200000000 -393.906887214 -557.474095672 -0.993461550135 0.00507200000000 +362.19041495333806324 -459.57631757862424138 -1.5215212862630003166 0.0050720000000000001195 +393.90688721377233605 -557.47409567226861782 -0.99346155013500025976 0.0050720000000000001195 # segment n.7 -393.906887214 -557.474095672 -0.993461550135 0.00000000000 -397.478999027 -562.958128913 -0.993461550135 0.00000000000 +393.90688721377233605 -557.47409567226861782 -0.99346155013500025976 0.0000000000000000000 +397.47899902665068339 -562.95812891255081922 -0.99346155013500025976 0.0000000000000000000 # segment n.8 -397.478999027 -562.958128913 -0.993461550135 -0.0250130000000 -401.553456161 -598.436568927 -1.91944658710 -0.0250130000000 +397.47899902665068339 -562.95812891255081922 -0.99346155013500025976 -0.025013000000000000511 +401.55345616142949439 -598.43656892728176899 -1.9194465870980002009 -0.025013000000000000511 # segment n.9 -401.553456161 -598.436568927 -1.91944658710 0.00000000000 -380.474736763 -656.424847048 -1.91944658710 0.00000000000 +401.55345616142949439 -598.43656892728176899 -1.9194465870980002009 0.0000000000000000000 +380.47473676303945922 -656.42484704780383709 -1.9194465870980002009 0.0000000000000000000 # segment n.10 -380.474736763 -656.424847048 -1.91944658710 0.00586400000000 -372.224022986 -740.785316647 -1.41713209570 0.00586400000000 +380.47473676303945922 -656.42484704780383709 -1.9194465870980002009 0.0058640000000000002886 +372.22402298598098014 -740.78531664722243022 -1.4171320956980002492 0.0058640000000000002886 # segment n.11 -372.224022986 -740.785316647 -1.41713209570 0.00000000000 -373.024964855 -745.956512212 -1.41713209570 0.00000000000 +372.22402298598098014 -740.78531664722243022 -1.4171320956980002492 0.0000000000000000000 +373.02496485483499100 -745.95651221244156659 -1.4171320956980002492 0.0000000000000000000 # segment n.12 -373.024964855 -745.956512212 -1.41713209570 0.0143060000000 -386.982740993 -778.245566622 -0.908426314932 0.0143060000000 +373.02496485483499100 -745.95651221244156659 -1.4171320956980002492 0.014305999999999999273 +386.98274099314909336 -778.24556662178702027 -0.90842631493200021175 0.014305999999999999273 # segment n.13 -386.982740993 -778.245566622 -0.908426314932 0.00000000000 -409.836615653 -807.548806606 -0.908426314932 0.00000000000 +386.98274099314909336 -778.24556662178702027 -0.90842631493200021175 0.0000000000000000000 +409.83661565344550581 -807.54880660644550971 -0.90842631493200021175 0.0000000000000000000 # segment n.14 -409.836615653 -807.548806606 -0.908426314932 -0.0119380000000 -427.100809066 -867.727748689 -1.67441041669 -0.0119380000000 +409.83661565344550581 -807.54880660644550971 -0.90842631493200021175 -0.011938000000000000694 +427.10080906622471275 -867.72774868908868484 -1.6744104166920004140 -0.011938000000000000694 # segment n.15 -427.100809066 -867.727748689 -1.67441041669 0.00000000000 -426.742967789 -871.168977386 -1.67441041669 0.00000000000 +427.10080906622471275 -867.72774868908868484 -1.6744104166920004140 0.0000000000000000000 +426.74296778885519643 -871.16897738635168480 -1.6744104166920004140 0.0000000000000000000 # segment n.16 -426.742967789 -871.168977386 -1.67441041669 -0.00990400000000 -376.846872792 -948.140649131 -2.61745577773 -0.00990400000000 +426.74296778885519643 -871.16897738635168480 -1.6744104166920004140 -0.0099039999999999996094 +376.84687279208304744 -948.14064913129311662 -2.6174557777320002216 -0.0099039999999999996094 # segment n.17 -376.846872792 -948.140649131 -2.61745577773 0.00000000000 -348.449372436 -964.556334209 -2.61745577773 0.00000000000 +376.84687279208304744 -948.14064913129311662 -2.6174557777320002216 0.0000000000000000000 +348.44937243622803180 -964.55633420946242040 -2.6174557777320002216 0.0000000000000000000 # segment n.18 -348.449372436 -964.556334209 -2.61745577773 0.00617600000000 -286.727160961 -1028.33148794 -2.06221922234 0.00617600000000 +348.44937243622803180 -964.55633420946242040 -2.6174557777320002216 0.0061760000000000000661 +286.72716096068529623 -1028.3314879446754730 -2.0622192223400004352 0.0061760000000000000661 # segment n.19 -286.727160961 -1028.33148794 -2.06221922234 0.00000000000 -13.6857211899 -1538.48216040 -2.06221922234 0.00000000000 +286.72716096068529623 -1028.3314879446754730 -2.0622192223400004352 0.0000000000000000000 +13.685721189855314606 -1538.4821604012799980 -2.0622192223400004352 0.0000000000000000000 # segment n.20 -13.6857211899 -1538.48216040 -2.06221922234 -0.00175900000000 --78.3560511007 -1664.88422472 -2.33813490166 -0.00175900000000 +13.685721189855314606 -1538.4821604012799980 -2.0622192223400004352 -0.0017589999999999999299 +-78.356051100674605436 -1664.8842247216869055 -2.3381349016630004201 -0.0017589999999999999299 # segment n.21 --78.3560511007 -1664.88422472 -2.33813490166 0.00000000000 --86.5965571005 -1673.42787870 -2.33813490166 0.00000000000 +-78.356051100674605436 -1664.8842247216869055 -2.3381349016630004201 0.0000000000000000000 +-86.596557100539556018 -1673.4278787024395569 -2.3381349016630004201 0.0000000000000000000 # segment n.22 --86.5965571005 -1673.42787870 -2.33813490166 -0.0117460000000 --162.475296235 -1698.19887513 -3.31395567573 -0.0117460000000 +-86.596557100539556018 -1673.4278787024395569 -2.3381349016630004201 -0.011745999999999999497 +-162.47529623535569954 -1698.1988751264816528 -3.3139556757310004720 -0.011745999999999999497 # segment n.23 --162.475296235 -1698.19887513 -3.31395567573 0.00000000000 --174.986181580 -1696.02084928 -3.31395567573 0.00000000000 +-162.47529623535569954 -1698.1988751264816528 -3.3139556757310004720 0.0000000000000000000 +-174.98618157974709675 -1696.0208492798165025 -3.3139556757310004720 0.0000000000000000000 # segment n.24 --174.986181580 -1696.02084928 -3.31395567573 -0.0137010000000 --228.491939847 -1655.22773986 -4.27201715882 -0.0137010000000 +-174.98618157974709675 -1696.0208492798165025 -3.3139556757310004720 -0.013700999999999999637 +-228.49193984738963081 -1655.2277398598052969 -4.2720171588220008374 -0.013700999999999999637 # segment n.25 --228.491939847 -1655.22773986 -4.27201715882 0.00000000000 --241.185292849 -1628.29137605 -4.27201715882 0.00000000000 +-228.49193984738963081 -1655.2277398598052969 -4.2720171588220008374 0.0000000000000000000 +-241.18529284925628531 -1628.2913760543158332 -4.2720171588220008374 0.0000000000000000000 # segment n.26 --241.185292849 -1628.29137605 -4.27201715882 0.00207000000000 --318.646344982 -1511.56355771 -3.98100214748 0.00207000000000 +-241.18529284925628531 -1628.2913760543158332 -4.2720171588220008374 0.0020699999999999997916 +-318.64634498150962827 -1511.5635577148218545 -3.9810021474820009857 0.0020699999999999997916 # segment n.27 --318.646344982 -1511.56355771 -3.98100214748 0.00000000000 --442.115156089 -1373.98130461 -3.98100214748 0.00000000000 +-318.64634498150962827 -1511.5635577148218545 -3.9810021474820009857 0.0000000000000000000 +-442.11515608870462302 -1373.9813046095594018 -3.9810021474820009857 0.0000000000000000000 # segment n.28 --442.115156089 -1373.98130461 -3.98100214748 0.0548960000000 --451.989262719 -1368.30799787 -3.34519634611 0.0548960000000 +-442.11515608870462302 -1373.9813046095594018 -3.9810021474820009857 0.054896000000000000352 +-451.98926271881248340 -1368.3079978732573636 -3.3451963461060012506 0.054896000000000000352 # segment n.29 --451.989262719 -1368.30799787 -3.34519634611 0.00000000000 --453.771261887 -1367.94007819 -3.34519634611 0.00000000000 +-451.98926271881248340 -1368.3079978732573636 -3.3451963461060012506 0.0000000000000000000 +-453.77126188727396539 -1367.9400781854740217 -3.3451963461060012506 0.0000000000000000000 # segment n.30 --453.771261887 -1367.94007819 -3.34519634611 0.0474390000000 --472.743603536 -1373.48572414 -2.36923062069 0.0474390000000 +-453.77126188727396539 -1367.9400781854740217 -3.3451963461060012506 0.047439000000000002000 +-472.74360353561780812 -1373.4857241355944097 -2.3692306206930009438 0.047439000000000002000 # segment n.31 --472.743603536 -1373.48572414 -2.36923062069 0.00000000000 --493.338090216 -1393.55014595 -2.36923062069 0.00000000000 +-472.74360353561780812 -1373.4857241355944097 -2.3692306206930009438 0.0000000000000000000 +-493.33809021575700626 -1393.5501459516910927 -2.3692306206930009438 0.0000000000000000000 # segment n.32 --493.338090216 -1393.55014595 -2.36923062069 -0.0247240000000 --523.764240331 -1404.96631535 -3.19604667285 -0.0247240000000 +-493.33809021575700626 -1393.5501459516910927 -2.3692306206930009438 -0.024723999999999999450 +-523.76424033074567888 -1404.9663153455603606 -3.1960466728530008140 -0.024723999999999999450 # segment n.33 --523.764240331 -1404.96631535 -3.19604667285 0.00000000000 --527.721984241 -1404.75058701 -3.19604667285 0.00000000000 +-523.76424033074567888 -1404.9663153455603606 -3.1960466728530008140 0.0000000000000000000 +-527.72198424148950835 -1404.7505870114650861 -3.1960466728530008140 0.0000000000000000000 # segment n.34 --527.721984241 -1404.75058701 -3.19604667285 -0.0159930000000 --567.693038525 -1387.35307203 -3.90818412835 -0.0159930000000 +-527.72198424148950835 -1404.7505870114650861 -3.1960466728530008140 -0.015993000000000000271 +-567.69303852491975704 -1387.3530720346686849 -3.9081841283490010852 -0.015993000000000000271 # segment n.35 --567.693038525 -1387.35307203 -3.90818412835 0.00000000000 --573.420218286 -1381.83735879 -3.90818412835 0.00000000000 +-567.69303852491975704 -1387.3530720346686849 -3.9081841283490010852 0.0000000000000000000 +-573.42021828601991729 -1381.8373587935484466 -3.9081841283490010852 0.0000000000000000000 # segment n.36 --573.420218286 -1381.83735879 -3.90818412835 -0.00911500000000 --606.937294767 -1307.22449683 -4.67219510635 -0.00911500000000 +-573.42021828601991729 -1381.8373587935484466 -3.9081841283490010852 -0.0091149999999999998385 +-606.93729476683051871 -1307.2244968289514873 -4.6721951063540014815 -0.0091149999999999998385 # segment n.37 --606.937294767 -1307.22449683 -4.67219510635 0.00000000000 --607.172345371 -1301.37972526 -4.67219510635 0.00000000000 +-606.93729476683051871 -1307.2244968289514873 -4.6721951063540014815 0.0000000000000000000 +-607.17234537103036018 -1301.3797252622021006 -4.6721951063540014815 0.0000000000000000000 # segment n.38 --607.172345371 -1301.37972526 -4.67219510635 -0.00780300000000 --581.332824484 -1218.92246347 -5.35993493718 -0.00780300000000 +-607.17234537103036018 -1301.3797252622021006 -4.6721951063540014815 -0.0078030000000000000401 +-581.33282448426587052 -1218.9224634745623916 -5.3599349371760016680 -0.0078030000000000000401 # segment n.39 --581.332824484 -1218.92246347 -5.35993493718 0.00000000000 --284.893970308 -826.983504099 -5.35993493718 0.00000000000 +-581.33282448426587052 -1218.9224634745623916 -5.3599349371760016680 0.0000000000000000000 +-284.89397030756413187 -826.98350409867407507 -5.3599349371760016680 0.0000000000000000000 # segment n.40 --284.893970308 -826.983504099 -5.35993493718 0.0342220000000 --290.743273985 -785.922766230 -3.78183733707 0.0342220000000 +-284.89397030756413187 -826.98350409867407507 -5.3599349371760016680 0.034222000000000002418 +-290.74327398477669249 -785.92276622956660503 -3.7818373370740019368 0.034222000000000002418 # segment n.41 --290.743273985 -785.922766230 -3.78183733707 0.00000000000 --327.844940999 -758.284836083 -3.78183733707 0.00000000000 +-290.74327398477669249 -785.92276622956660503 -3.7818373370740019368 0.0000000000000000000 +-327.84494099946743972 -758.28483608310705222 -3.7818373370740019368 0.0000000000000000000 # segment n.42 --327.844940999 -758.284836083 -3.78183733707 -0.0313830000000 --340.590374010 -735.035581443 -4.64000754335 -0.0313830000000 +-327.84494099946743972 -758.28483608310705222 -3.7818373370740019368 -0.031383000000000001173 +-340.59037401034606773 -735.03558144336909663 -4.6400075433520022727 -0.031383000000000001173 # segment n.43 --340.590374010 -735.035581443 -4.64000754335 0.00000000000 --355.317648089 -531.923476894 -4.64000754335 0.00000000000 +-340.59037401034606773 -735.03558144336909663 -4.6400075433520022727 0.0000000000000000000 +-355.31764808896775776 -531.92347689408143196 -4.6400075433520022727 0.0000000000000000000 # segment n.44 --355.317648089 -531.923476894 -4.64000754335 -0.0124610000000 --318.919262896 -458.773707415 -5.70820134791 -0.0124610000000 +-355.31764808896775776 -531.92347689408143196 -4.6400075433520022727 -0.012460999999999999854 +-318.91926289564543140 -458.77370741524242703 -5.7082013479120021771 -0.012460999999999999854 # segment n.45 --318.919262896 -458.773707415 -5.70820134791 0.00000000000 --201.631475169 -382.768556473 -5.70820134791 0.00000000000 +-318.91926289564543140 -458.77370741524242703 -5.7082013479120021771 0.0000000000000000000 +-201.63147516880974308 -382.76855647270923555 -5.7082013479120021771 0.0000000000000000000 # segment n.46 --201.631475169 -382.768556473 -5.70820134791 0.0162070000000 --173.783121762 -337.051950456 -4.81081983895 0.0162070000000 +-201.63147516880974308 -382.76855647270923555 -5.7082013479120021771 0.016206999999999999185 +-173.78312176235772313 -337.05195045647826646 -4.8108198389470020473 0.016206999999999999185 # segment n.47 --173.783121762 -337.051950456 -4.81081983895 0.00000000000 --173.342914437 -332.594153958 -4.81081983895 0.00000000000 +-173.78312176235772313 -337.05195045647826646 -4.8108198389470020473 0.0000000000000000000 +-173.34291443738598559 -332.59415395792854042 -4.8108198389470020473 0.0000000000000000000 # segment n.48 --173.342914437 -332.594153958 -4.81081983895 0.0134130000000 --186.549475654 -282.384522477 -4.09955283378 0.0134130000000 +-173.34291443738598559 -332.59415395792854042 -4.8108198389470020473 0.013412999999999999576 +-186.54947565419314515 -282.38452247737262724 -4.0995528337810025477 0.013412999999999999576 # segment n.49 --186.549475654 -282.384522477 -4.09955283378 0.00000000000 --247.168138573 -196.174234475 -4.09955283378 0.00000000000 +-186.54947565419314515 -282.38452247737262724 -4.0995528337810025477 0.0000000000000000000 +-247.16813857261124099 -196.17423447452560481 -4.0995528337810025477 0.0000000000000000000 # segment n.50 --247.168138573 -196.174234475 -4.09955283378 0.0278050000000 --285.419070702 -181.997113595 -2.89350853975 0.0278050000000 +-247.16813857261124099 -196.17423447452560481 -4.0995528337810025477 0.027804999999999999855 +-285.41907070150472236 -181.99711359502586561 -2.8935085397460023060 0.027804999999999999855 # segment n.51 --285.419070702 -181.997113595 -2.89350853975 0.00000000000 --290.750114290 -183.347478215 -2.89350853975 0.00000000000 +-285.41907070150472236 -181.99711359502586561 -2.8935085397460023060 0.0000000000000000000 +-290.75011428999613372 -183.34747821456562633 -2.8935085397460023060 0.0000000000000000000 # segment n.52 --290.750114290 -183.347478215 -2.89350853975 0.0334460000000 --313.148456331 -209.251684982 -1.67397182452 0.0334460000000 +-290.75011428999613372 -183.34747821456562633 -2.8935085397460023060 0.033445999999999996566 +-313.14845633061969465 -209.25168498165959363 -1.6739718245240025052 0.033445999999999996566 # segment n.53 --313.148456331 -209.251684982 -1.67397182452 0.00000000000 --320.792866997 -283.079930837 -1.67397182452 0.00000000000 +-313.14845633061969465 -209.25168498165959363 -1.6739718245240025052 0.0000000000000000000 +-320.79286699737514255 -283.07993083678002222 -1.6739718245240025052 0.0000000000000000000 # segment n.54 --320.792866997 -283.079930837 -1.67397182452 -0.0200380000000 --386.701570470 -325.118978851 -3.47365824417 -0.0200380000000 +-320.79286699737514255 -283.07993083678002222 -1.6739718245240025052 -0.020038000000000000256 +-386.70157047046933485 -325.11897885051160983 -3.4736582441740027072 -0.020038000000000000256 # segment n.55 --386.701570470 -325.118978851 -3.47365824417 0.00000000000 --394.750788976 -322.343331116 -3.47365824417 0.00000000000 +-386.70157047046933485 -325.11897885051160983 -3.4736582441740027072 0.0000000000000000000 +-394.75078897595113858 -322.34333111623215018 -3.4736582441740027072 0.0000000000000000000 # segment n.56 --394.750788976 -322.343331116 -3.47365824417 -0.0225360000000 --420.232839705 -261.075861001 -5.16281901907 -0.0225360000000 +-394.75078897595113858 -322.34333111623215018 -3.4736582441740027072 -0.022536000000000000476 +-420.23283970454349401 -261.07586100078526670 -5.1628190190700031792 -0.022536000000000000476 # segment n.57 --420.232839705 -261.075861001 -5.16281901907 0.00000000000 --365.249337419 -147.376224881 -5.16281901907 0.00000000000 +-420.23283970454349401 -261.07586100078526670 -5.1628190190700031792 0.0000000000000000000 +-365.24933741920222019 -147.37622488063499304 -5.1628190190700031792 0.0000000000000000000 # segment n.58 --365.249337419 -147.376224881 -5.16281901907 -0.00402000000000 --295.800396461 -60.7099965375 -5.61307145293 -0.00402000000000 +-365.24933741920222019 -147.37622488063499304 -5.1628190190700031792 -0.0040200000000000001357 +-295.80039646109361229 -60.709996537450336973 -5.6130714529300034243 -0.0040200000000000001357 # segment n.59 --295.800396461 -60.7099965375 -5.61307145293 0.00000000000 --284.989339653 -52.1428879969 -5.61307145293 0.00000000000 +-295.80039646109361229 -60.709996537450336973 -5.6130714529300034243 0.0000000000000000000 +-284.98933965268264501 -52.142887996913692916 -5.6130714529300034243 0.0000000000000000000 # segment n.60 --284.989339653 -52.1428879969 -5.61307145293 -0.00658100000000 --206.344917159 -20.0996118239 -6.17948325645 -0.00658100000000 +-284.98933965268264501 -52.142887996913692916 -5.6130714529300034243 -0.0065810000000000000442 +-206.34491715946285240 -20.099611823899017793 -6.1794832564510038253 -0.0065810000000000000442 # segment n.61 --206.344917159 -20.0996118239 -6.17948325645 3.79713855436e-05 -0.00000000000 1.03028696685e-13 -6.20322130718 -0.000266962815723 +-206.34491715946285240 -20.099611823899017793 -6.1794832564510038253 3.7971385543563620081e-05 +0.0000000000000000000 1.0302869668521452695e-13 -6.2032213071795858639 -0.00026696281572276546771 # EOF