data class Spiral2D: Any

Represents a spiral of the form: x(l) = A * sqrt(pi) * int_0^l cos( (pit^2) / 2 ) dty(l) = A * sqrt(pi) * int_0^l sin( (pit^2) / 2 ) dt Asymptotic points at (Asqrt(pi)/2, Asqrt(pi)/2) and (-Asqrt(pi)/2, -Asqrt(pi)/2).

Fields

Name Description
val cDot: Double

first derivative of curvature

Constructors

<init>

constructor(cDot: Double)

Represents a spiral of the form: x(l) = A * sqrt(pi) * int_0^l cos( (pit^2) / 2 ) dty(l) = A * sqrt(pi) * int_0^l sin( (pit^2) / 2 ) dt Asymptotic points at (Asqrt(pi)/2, Asqrt(pi)/2) and (-Asqrt(pi)/2, -Asqrt(pi)/2).

Parameters

Name Description
cDot: Double

first derivative of curvature

Methods

calculatePoint

fun calculatePoint(l: Double): Vector2D

Returns a point in cartesian coordinates at the spiral position l. The point is calculated by using a Fresnel integral implementation.

Parameters

Name Description
l: Double

spiral position

ReturnValue

Name Description
Vector2D

point in cartesian coordinate

calculateRotation

fun calculateRotation(l: Double): Rotation2D

Returns the rotation of the tangent at the spiral position l.

Parameters

Name Description
l: Double

ReturnValue

Name Description
Rotation2D

calculatePose

fun calculatePose(l: Double): Pose2D

Returns the pose at the spiral position l.

Parameters

Name Description
l: Double

ReturnValue

Name Description
Pose2D

calculateCurvature

fun calculateCurvature(l: Double): (l: Double)

Returns the curvature at the spiral position l.

Parameters

Name Description
l: Double

ReturnValue

Name Description
(l: Double)