Class Spline

A spline class to provide infinitesimal pose information on a path defined by discrete positions.

Inheritance

object

Spline

Namespace: Holoride.ElasticSDK

Assembly: Holoride.ElasticSDK.Library.Runtime.dll

Syntax

[Serializable]
public class Spline

Constructors

Spline(IReadOnlyList<GeoCoordinate>, int, float, GeoCoordinate?)

Initializes a new instance of the Spline class, prepares distance lookup table and performs filter operations.

Declaration

public Spline(IReadOnlyList<GeoCoordinate> geoCoordinates, int distanceSamplesPerInterval = 10, float controlPointRatio = 0.3, GeoCoordinate? pivot = null)

Parameters

Type	Name	Description
IReadOnlyList<GeoCoordinate>	geoCoordinates	A list of geoCoordinates to align a spline to.
int	distanceSamplesPerInterval	The number of samples per interval to add to the distance lookup-table. The value implies a trade-off between precision and cpu/memory consumption.
float	controlPointRatio	Controls spline smoothing. 0 = tight, 1 = smooth.
GeoCoordinate?	pivot	The pivot to use when interpreting the provided coordinates.

Spline(List<GlobalPosition>, int, float)

Initializes a new instance of the Spline class, prepares distance lookup table and performs filter operations.

Declaration

public Spline(List<GlobalPosition> positions, int distanceSamplesPerInterval = 10, float controlPointRatio = 0.3)

Parameters

Type	Name	Description
List<GlobalPosition>	positions	A list of positions to align a spline to.
int	distanceSamplesPerInterval	The number of samples per interval to add to the distance lookup-table. The value implies a trade-off between precision and cpu/memory consumption.
float	controlPointRatio	Controls spline smoothing. 0 = tight, 1 = smooth.

Fields

Pivot

The Pivot this Spline was created with.

Declaration

public GeoCoordinate Pivot

Field Value

Type	Description
GeoCoordinate

Properties

Length

Gets the length of the spline.

Declaration

public double Length { get; }

Property Value

Type	Description
double

SupportPointCount

Gets the number of positions to define the spline.

Declaration

public int SupportPointCount { get; }

Property Value

Type	Description
int

Methods

FindClosestDistance(GlobalPosition, double, RouteSegments)

Finds the spline distance of the closest point to a given search position.

Declaration

public double FindClosestDistance(GlobalPosition searchPosition, double stepDistance, RouteSegments searchRouteSegments = null)

Parameters

Type	Name	Description
GlobalPosition	searchPosition	The position to search the closest distance.
double	stepDistance	The step distance. A smaller distance increases computation effort.
RouteSegments	searchRouteSegments	The optional interval to search within.

Returns

Type	Description
double	The distance of the spline point closest to the search position.

FindClosestPoseOnSpline(GlobalPosition, double, RouteSegments)

Finds the closest position on a spline to a given search position.

Declaration

public GlobalPose FindClosestPoseOnSpline(GlobalPosition searchPosition, double stepDistance, RouteSegments searchRouteSegments = null)

Parameters

Type	Name	Description
GlobalPosition	searchPosition	The position to search.
double	stepDistance	The step distance. A smaller distance increases computation effort.
RouteSegments	searchRouteSegments	The optional interval to search within.

Returns

Type	Description
GlobalPose	The closest pose on the spline.

FindClosestPositionOnSupportLines(GlobalPosition, out double)

Finds the closest position between support points.

Declaration

public GlobalPosition FindClosestPositionOnSupportLines(GlobalPosition searchPosition, out double sqrDistance)

Parameters

Type	Name	Description
GlobalPosition	searchPosition	The position to search the closest distance for.
double	sqrDistance	The minimum squared distance found.

Returns

Type	Description
GlobalPosition	The closest position.

FindClosestRatio(GlobalPosition, double, RouteSegments)

Finds the closest spline ratio to a given search position.

Declaration

public double FindClosestRatio(GlobalPosition searchPosition, double stepDistance, RouteSegments searchRouteSegments = null)

Parameters

Type	Name	Description
GlobalPosition	searchPosition	The position to search the closest distance.
double	stepDistance	The step distance. A smaller distance increases computation effort.
RouteSegments	searchRouteSegments	The optional interval to search within.

Returns

Type	Description
double	The computed spline ratio.

ForEachSupportPosition(Action<GlobalPosition, double>)

Calls an action for each support position.

Declaration

public void ForEachSupportPosition(Action<GlobalPosition, double> action)

Parameters

Type	Name	Description
Action<GlobalPosition, double>	action	The action to call. Contains the position and the distance on the spline.

GenerateSimplifiedSplineByRadius(double)

Generates a simplified spline based on this spline.

Declaration

public Spline GenerateSimplifiedSplineByRadius(double supportRadius)

Parameters

Type	Name	Description
double	supportRadius	Defines the distance between the generated support positions.

Returns

Type	Description
Spline	The simplified spline.

GetCurvatureAtDistance(double, double)

Gets the curvature at a specified distance.

Declaration

public Vector3 GetCurvatureAtDistance(double distance, double curvatureDistanceDelta)

Parameters

Type	Name	Description
double	distance	The distance.
double	curvatureDistanceDelta	The curvature distance delta.

Returns

Type	Description
Vector3	The curvature of the spline.

GetDistanceAtIndex(double)

Looks up the distance at a given index.

Declaration

public double GetDistanceAtIndex(double index)

Parameters

Type	Name	Description
double	index	The index where to look at.

Returns

Type	Description
double	The computed distance on the spline.

GetDistanceAtRatio(double)

Looks up the distance at a given ratio.

Declaration

public double GetDistanceAtRatio(double ratio)

Parameters

Type	Name	Description
double	ratio	The ratio where to look at.

Returns

Type	Description
double	The computed distance on the spline.

GetDistanceAtSupportPoint(int)

Looks up the distance at a given support point index.

Declaration

public double GetDistanceAtSupportPoint(int supportPointNumber)

Parameters

Type	Name	Description
int	supportPointNumber	The support point number where to look at.

Returns

Type	Description
double	The computed distance on the spline.

GetIndexAtDistance(double)

Gets the index at a specific distance.

Declaration

public double GetIndexAtDistance(double distance)

Parameters

Type	Name	Description
double	distance	The distance.

Returns

Type	Description
double	The computed spline index.

GetIndexAtRatio(double)

Looks up the index at a given ratio.

Declaration

public double GetIndexAtRatio(double ratio)

Parameters

Type	Name	Description
double	ratio	The ratio where to look at.

Returns

Type	Description
double	The computed index on the spline.

GetRatioAtDistance(double)

Gets the ratio at a specific distance.

Declaration

public double GetRatioAtDistance(double distance)

Parameters

Type	Name	Description
double	distance	The distance.

Returns

Type	Description
double	The computed spline ratio.

GetRatioAtIndex(double)

Looks up the ratio at a given index.

Declaration

public double GetRatioAtIndex(double index)

Parameters

Type	Name	Description
double	index	The index where to look at.

Returns

Type	Description
double	The computed ratio on the spline.

GetSupportPosition(int)

Returns a support position at a given index.

Declaration

public GlobalPosition GetSupportPosition(int index)

Parameters

Type	Name	Description
int	index	The index of the support position to return.

Returns

Type	Description
GlobalPosition	The support position at the given index.

ProjectRatioFromReferenceSpline(Spline, double, double)

Computes the ratio of the position with the closest distance to the result of sampling a reference spline at a given ratio. This method is referred to as ratio projection.

Declaration

public double ProjectRatioFromReferenceSpline(Spline referenceSpline, double ratio, double errorMargin)

Parameters

Type	Name	Description
Spline	referenceSpline	The reference spline.
double	ratio	The ratio to project.
double	errorMargin	The error margin. Beyond the margin distance, the result is precisely computed. A smaller margin increases computation effort.

Returns

Type	Description
double	The projected ratio.

SampleAtDistance(double, bool)

Samples the spline at a specific distance.

Declaration

public GlobalPose SampleAtDistance(double distance, bool oppositeDirection = false)

Parameters

Type	Name	Description
double	distance	The distance in units where to sample the spline.
bool	oppositeDirection	States whether to return a pose in the opposite direction.

Returns

Type	Description
GlobalPose	The doublePose (translation and rotation along the tangent) at the defined distance.

SampleAtDistance(double, out double, bool)

Samples the spline at a specific distance.

Declaration

public GlobalPose SampleAtDistance(double distance, out double controlPointIndex, bool oppositeDirection = false)

Parameters

Type	Name	Description
double	distance	The distance in units where to sample the spline.
double	controlPointIndex	The optional output of the interpolated control point index at the given distance.
bool	oppositeDirection	States whether to return a pose in the opposite direction.

Returns

Type	Description
GlobalPose	The doublePose (translation and rotation along the tangent) at the defined distance.

SampleAtIndex(double, bool)

Samples the hermite spline at a specific index.

Declaration

public GlobalPose SampleAtIndex(double sampleIndex, bool oppositeDirection = false)

Parameters

Type	Name	Description
double	sampleIndex	The index between 0.0 and 1.0 where to sample the spline.
bool	oppositeDirection	States whether to return a pose in the opposite direction.

Returns

Type	Description
GlobalPose	The doublePose (translation and rotation aligned with the tangent) at the given index.

SampleAtRatio(double, bool)

Samples the hermite spline at a specific ratio.

Declaration

public GlobalPose SampleAtRatio(double sampleRatio, bool oppositeDirection = false)

Parameters

Type	Name	Description
double	sampleRatio	The ratio between 0.0 and 1.0 where to sample the spline.
bool	oppositeDirection	States whether to return a pose in the opposite direction.

Returns

Type	Description
GlobalPose	The double precision pose (translation and rotation aligned with the tangent) at the given ratio.

SamplePositionAtIndex(double)

Samples the hermite spline at a specific index.

Declaration

public GlobalPosition SamplePositionAtIndex(double sampleIndex)

Parameters

Type	Name	Description
double	sampleIndex	The index between 0.0 and 1.0 where to sample the spline.

Returns

Type	Description
GlobalPosition	The position at the given index.

Scale(double)

Scales the spline by a given factor.

Declaration

public void Scale(double factor)

Parameters

Type	Name	Description
double	factor	The factor to scale the spline with.

ToString()

Declaration

public override string ToString()

Returns

Type	Description
string

Overrides

Object.ToString()