`data class Curve3D: AbstractCurve3D`

A curve in 3D defined by a curve in 2D and a height function. Furthermore, the curve can have a torsion, which is relevant for pose and transformation matrix calculations along the curve. See the wikipedia article on torsion of a curve.

Fields

Name Description
`val domain: Range<Double>`

definable domain

`val tolerance: Double`

tolerable threshold value

`val curveXY: AbstractCurve2D`

the curve in the xy plane

`val heightFunction: UnivariateFunction`

the definition of the height, which must be defined where the curveXY is defined

`val torsionFunction: UnivariateFunction`

the torsion of the curve, which must be defined where the curveXY is defined

## Constructors

### <init>

`constructor(curveXY: AbstractCurve2D, heightFunction: UnivariateFunction, torsionFunction: UnivariateFunction)`

A curve in 3D defined by a curve in 2D and a height function. Furthermore, the curve can have a torsion, which is relevant for pose and transformation matrix calculations along the curve. See the wikipedia article on torsion of a curve.

Parameters

Name Description
`curveXY: AbstractCurve2D`

the curve in the xy plane

`heightFunction: UnivariateFunction`

the definition of the height, which must be defined where the curveXY is defined

`torsionFunction: UnivariateFunction`

the torsion of the curve, which must be defined where the curveXY is defined

## Methods

### calculatePointLocalCSUnbounded

`protected fun calculatePointLocalCSUnbounded(curveRelativePoint: CurveRelativePoint1D): Result<Vector3D, Exception>`

Returns the point in the cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system.

Parameters

Name Description
`curveRelativePoint: CurveRelativePoint1D`

point in curve relative coordinates

ReturnValue

Name Description
`Result<Vector3D, Exception>`

point in cartesian coordinates

### calculatePose

`fun calculatePose(curveRelativePoint: CurveRelativePoint1D): Result<Pose3D, Exception>`

Returns a pose at the position along the curve curveRelativePoint.

Parameters

Name Description
`curveRelativePoint: CurveRelativePoint1D`

pose is calculated on the curveRelativePoint

ReturnValue

Name Description
`Result<Pose3D, Exception>`

pose whereby the orientation is tangential to this curve and its torsion

### calculateAffine

`fun calculateAffine(curveRelativePoint: CurveRelativePoint1D): Result<Affine3D, Exception>`

Returns an Affine3D at the position along the curve curveRelativePoint.

Parameters

Name Description
`curveRelativePoint: CurveRelativePoint1D`

affine transformation matrix is calculated on the curveRelativePoint

ReturnValue

Name Description
`Result<Affine3D, Exception>`

affine transformation matrix whereby the orientation is tangential to this curve and its torsion

### equals

`fun equals(other: Any?): Boolean`

Parameters

Name Description
`other: Any?`

ReturnValue

Name Description
`Boolean`

### hashCode

`fun hashCode(): Int`

ReturnValue

Name Description
`Int`