abstract class AbstractCurve2D: AbstractGeometry2D, DefinableDomain<Double>, Tolerable

Abstract class for all geometric curve objects in 2D.

Fields

Name Description
val length: Double

length of the curve

val endBoundType: BoundType

BoundType at the end of the curve

Constructors

Name Description
constructor()

Abstract class for all geometric curve objects in 2D.

Methods

calculatePointLocalCS

fun calculatePointLocalCS(curveRelativePoint: CurveRelativePoint1D): Result<Vector2D, Exception>

Returns the point in the local cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

Parameters

Name Description
curveRelativePoint: CurveRelativePoint1D

point in curve relative coordinates

ReturnValue

Name Description
Result<Vector2D, Exception>

point in cartesian coordinates

calculatePointLocalCSUnbounded

protected abstract fun calculatePointLocalCSUnbounded(curveRelativePoint: CurveRelativePoint1D): Result<Vector2D, 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<Vector2D, Exception>

point in cartesian coordinates

calculateRotationLocalCS

fun calculateRotationLocalCS(curveRelativePoint: CurveRelativePoint1D): Result<Rotation2D, Exception>

Returns the orientation in the local cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

Parameters

Name Description
curveRelativePoint: CurveRelativePoint1D

point in curve relative coordinates for which the orientation is to be calculated

ReturnValue

Name Description
Result<Rotation2D, Exception>

orientation tangential to this curve

calculateRotationLocalCSUnbounded

protected abstract fun calculateRotationLocalCSUnbounded(curveRelativePoint: CurveRelativePoint1D): Result<Rotation2D, Exception>

Returns the orientation in the local cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system.

Parameters

Name Description
curveRelativePoint: CurveRelativePoint1D

point in curve relative coordinates for which the orientation is to be calculated

ReturnValue

Name Description
Result<Rotation2D, Exception>

orientation tangential to this curve

calculatePointGlobalCS

fun calculatePointGlobalCS(curveRelativePoint: CurveRelativePoint1D): Result<Vector2D, Exception>

Returns the global point in the global cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

Parameters

Name Description
curveRelativePoint: CurveRelativePoint1D

point in curve relative coordinates

ReturnValue

Name Description
Result<Vector2D, Exception>

point in cartesian coordinates

calculateRotationGlobalCS

fun calculateRotationGlobalCS(curveRelativePoint: CurveRelativePoint1D): Result<Rotation2D, Exception>

Returns the orientation in the global cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system.

Parameters

Name Description
curveRelativePoint: CurveRelativePoint1D

point in curve relative coordinates for which the orientation is to be calculated

ReturnValue

Name Description
Result<Rotation2D, Exception>

orientation tangential to this curve

calculatePoseGlobalCS

fun calculatePoseGlobalCS(curveRelativePoint: CurveRelativePoint1D): Result<Pose2D, 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<Pose2D, Exception>

pose whereby the orientation is tangential to this curve