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🐍 Working on biarc wrapper
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 - removed functions wrapped now in base curve
 - added documentation to all methods of biarc
 - getC0 becomes c0
 - getC1 becomes c1
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@MatteoRagni
MatteoRagni committed Oct 19, 2021
1 parent 3032833 commit de542c3
Showing 1 changed file with 157 additions and 63 deletions.
220 changes: 157 additions & 63 deletions src_py/src/python-Biarc.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -21,54 +21,163 @@
namespace G2lib {
namespace python {
void wrap_Biarc(py::module & m) {
py::class_<Biarc, BaseCurve>(m, "Biarc")
.def(py::init())
.def(py::init<Biarc const &>())
.def(py::init<real_type, real_type, real_type, real_type, real_type, real_type>())
.def(py::init<BaseCurve const &>())
.def("copy", &Biarc::copy)
.def("build", &Biarc::build)
.def("build_3P", &Biarc::build_3P)
.def("getC0", &Biarc::C0)
.def("getC1", &Biarc::C1)
.def("xMiddle", &Biarc::xMiddle)
.def("yMiddle", &Biarc::yMiddle)
.def("thetaMiddle", &Biarc::thetaMiddle)
.def("kappa0", &Biarc::kappa0)
.def("kappa1", &Biarc::kappa1)
.def("length0", &Biarc::length0)
.def("length1", &Biarc::length1)
.def("delta_theta", &Biarc::delta_theta)
.def("bbTriangles", [](Biarc * self, real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100, int_type icurve = 0) {
std::vector<Triangle2D> tvec;
self->bbTriangles(tvec, max_angle, max_size, icurve);
return tvec;
}, py::arg("max_angle") = Utils::m_pi/18, py::arg("max_size") = 1e100, py::arg("icurve") = 0)
.def("bbTriangles_ISO", [](Biarc * self, real_type offs, real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100, int_type icurve = 0) {
std::vector<Triangle2D> tvec;
self->bbTriangles_ISO(offs, tvec, max_angle, max_size, icurve);
return tvec;
}, py::arg("offs"), py::arg("max_angle") = Utils::m_pi/18, py::arg("max_size") = 1e100, py::arg("icurve") = 0)
.def("bbTriangles_SAE", [](Biarc * self, real_type offs, real_type max_angle = Utils::m_pi/18,
real_type max_size = 1e100, int_type icurve = 0) {
std::vector<Triangle2D> tvec;
self->bbTriangles_SAE(offs, tvec, max_angle, max_size, icurve);
return tvec;
}, py::arg("offs"), py::arg("max_angle") = Utils::m_pi/18, py::arg("max_size") = 1e100, py::arg("icurve") = 0)
.def("collision", &Biarc::collision)
.def("collision_ISO", &Biarc::collision_ISO)
.def("intersect", [](Biarc * self, Biarc const & B, bool swap_s_vals) {
IntersectList ilist;
self->intersect(B, ilist, swap_s_vals);
return ilist;
})
.def("intersect_ISO", [](Biarc * self, real_type offs, Biarc const & B, real_type Coffs, bool swap_s_vals) {
IntersectList ilist;
self->intersect_ISO(offs, B, Coffs, ilist, swap_s_vals);
return ilist;
});
py::class_<Biarc, BaseCurve>(m, "Biarc",
R"S(
Compute biarc fitting by Hermite data
There are several possible constructors for this class:
* Empty constructor
* Copy contructor
* Constructor from data
* Explicit constructor from another base curve (unused)
For the copy constructor
:param Biarc curve: curve for copy
For the data constructor:
:param float x0: **x** coordinate of the origin
:param float y0: **y** coordinate of the origin
:param float theta0: tangent in the origin
:param float x1: **x** coordinate of the destination
:param float y1: **y** coordinate of the destination
:param float theta1: tangent in the destination
)S")

.def(py::init())
.def(py::init<Biarc const &>(), py::arg("curve"))
.def(py::init<real_type, real_type, real_type, real_type, real_type, real_type>(),
py::arg("x0"), py::arg("y0"), py::arg("theta0"),
py::arg("x1"), py::arg("y1"), py::arg("theta1"))
.def(py::init<BaseCurve const &>(), py::arg("curve"))

.def("copy", &Biarc::copy, py::arg("curve"),
R"S(
Copy onto this object another biarc parameters
:param Biarc curve: another biarc
:return: nothing, works in place
:rtype: NoneType
)S")

.def("build", &Biarc::build,
py::arg("x0"), py::arg("y0"), py::arg("theta0"),
py::arg("x1"), py::arg("y1"), py::arg("theta1"),
R"S(
Construct a biarc passing from the points
:math:`(x_0,y_0)` to the point :math:`(x_1,y_1)`
with initial angle :math:`\theta_0` and final angle :math:`\theta_1`
:param float x0: **x** coordinate of the origin
:param float y0: **y** coordinate of the origin
:param float theta0: tangent in the origin
:param float x1: **x** coordinate of the destination
:param float y1: **y** coordinate of the destination
:param float theta1: tangent in the destination
:return: false if biarc cannot be computed
:rtype: bool
)S")

.def("c0", &Biarc::C0,
R"S(
Returns the first circle arc of the biarc
:return: circle arc of the biarc
:rtype: CircleArc
)S")

.def("c1", &Biarc::C1,
R"S(
Returns the second circle arc of the biarc
:return: circle arc of the biarc
:rtype: CircleArc
)S")

.def("build_3P", &Biarc::build_3P,
py::arg("x0"), py::arg("y0"), py::arg("x1"), py::arg("y1"), py::arg("x2"), py::arg("y2"),
R"S(
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
:param float x0: **x** coordinate of initial point
:param float y0: **y** coordinate of initial point
:param float x1: **x** coordinate of central point
:param float y1: **y** coordinate of central point
:param float x2: **x** coordinate of final point
:param float y2: **y** coordinate of final point
:return: false if biarc cannot be computed
:rtype: bool
)S")

.def("xMiddle", &Biarc::xMiddle,
R"S(
Returns the **x** coordinate of the junction point of the biarc
:return: **x** coordinates of the junction
:rtype: float
)S")

.def("yMiddle", &Biarc::yMiddle,
R"S(
Returns the **y** coordinate of the junction point of the biarc
:return: **y** coordinates of the junction
:rtype: float
)S")

.def("thetaMiddle", &Biarc::thetaMiddle,
R"S(
Returns the **x** coordinate of the junction point of the biarc
:return: **x** coordinates of the junction
:rtype: float
)S")

.def("kappa0", &Biarc::kappa0,
R"S(
Curvature of the first circle arc
:return: curvature of the first circle arc
:rtype: float
)S")

.def("kappa1", &Biarc::kappa1,
R"S(
Curvature of the second circle arc
:return: curvature of the second circle arc
:rtype: float
)S")

.def("length0", &Biarc::length0,
R"S(
Length of the first circle arc
:return: length of the first circle arc
:rtype: float
)S")

.def("length1", &Biarc::length1,
R"S(
Length of the second circle arc
:return: length of the second circle arc
:rtype: float
)S")

.def("delta_theta", &Biarc::delta_theta,
R"S(
Change of angle of the biarc :math:`\theta_1 - \theta_0`
:return: the angle difference
:rtype: float
)S");
}

void wrap_BiarcList(py::module & m) {
Expand Down Expand Up @@ -124,21 +233,6 @@ namespace G2lib {
.def("findAtS", &BiarcList::findAtS)
.def("segment_length", &BiarcList::segment_length)
.def("segment_length_ISO", &BiarcList::segment_length_ISO)
.def("bbTriangles", [](BiarcList * self, real_type max_angle = Utils::m_pi/6, real_type max_size = 1e100) {
std::vector<Triangle2D> tvec;
self->bbTriangles(tvec, max_angle, max_size);
return tvec;
}, py::arg("max_angle") = Utils::m_pi/6, py::arg("max_size") = 1e100)
.def("bbTriangles_ISO", [](BiarcList * self, real_type offs, real_type max_angle, real_type max_size) {
std::vector<Triangle2D> tvec;
self->bbTriangles_ISO(offs, tvec, max_angle, max_size);
return tvec;
})
.def("bbTriangles_SAE", [](BiarcList * self, real_type offs, real_type max_angle = Utils::m_pi/18, real_type max_size = 1e100) {
std::vector<Triangle2D> tvec;
self->bbTriangles_SAE(offs, tvec, max_angle, max_size);
return tvec;
}, py::arg("offs"), py::arg("max_angle") = Utils::m_pi/18, py::arg("max_size") = 1e100)
.def("build_AABBtree_ISO", &BiarcList::build_AABBtree_ISO)
.def("build_AABBtree_SAE", &BiarcList::build_AABBtree_SAE,
py::arg("offs"), py::arg("max_angle") = Utils::m_pi/6, py::arg("max_size") = 1e100)
Expand Down

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