Package org.opentrafficsim.core.geometry

Class Clothoid

java.lang.Object

org.opentrafficsim.core.geometry.Clothoid

public final class Clothoid
extends Object

Generate an OTSLine3D for a clothoid.
Derived from odrSpiral.c by M. Dupuis @ VIRES GmbH

        Licensed under the Apache License, Version 2.0 (the "License");
        you may not use this file except in compliance with the License.
        You may obtain a copy of the License at
 
            http://www.apache.org/licenses/LICENSE-2.0
 
        Unless required by applicable law or agreed to in writing, software
        distributed under the License is distributed on an "AS IS" BASIS,
        WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
        See the License for the specific language governing permissions and
        limitations under the License.
 

Copyright (c) 2013-2022 Delft University of Technology, PO Box 5, 2600 AA, Delft, the Netherlands. All rights reserved.
BSD-style license. See OpenTrafficSim License.

Version:

$Revision$, $LastChangedDate$, by $Author$, initial version Nov 2, 2015

Author:

M. Dupuis @ VIRES GmbH, Alexander Verbraeck, Peter Knoppers

Field Summary

Fields

Modifier and Type	Field	Description
(package private) static double[]	CD	C(x) for small x denominator.
(package private) static double[]	CN	C(x) for small x numerator.
(package private) static double[]	FD	Auxiliary function f(x) denominator.
(package private) static double[]	FN	Auxiliary function f(x) numerator.
(package private) static double[]	GD	Auxiliary function g(x) denominator.
(package private) static double[]	GN	Auxiliary function g(x) numerator.
(package private) static double[]	SD	S(x) for small x denominator.
(package private) static double[]	SN	S(x) for small x numerator.

Method Summary

Modifier and Type	Method	Description
static OTSLine3D	clothoid(OTSPoint3D start, Direction startDirection, double startCurvature, double endCurvature, Length length, Length endElevation, int numSegments)	Approximate a clothoid.
static OTSLine3D	clothoid(OTSPoint3D start, Direction startDirection, double endCurvature, Length length, Length endElevation, int numSegments)	Approximate a clothoid with curvature 0 at start.
static OTSLine3D	clothoid(OTSPoint3D start, Direction startDirection, LinearDensity endCurvature, Length length, Length endElevation, int numSegments)	Approximate a clothoid with curvature 0 at start.
static OTSLine3D	clothoid(OTSPoint3D start, Direction startDirection, LinearDensity startCurvature, LinearDensity endCurvature, Length length, Length endElevation, int numSegments)	Approximate a clothoid.
static void	main(String[] args)	Demonstrate / test the clothoid methods.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

SN

static final double[] SN

S(x) for small x numerator.

SD

static final double[] SD

S(x) for small x denominator.

CN

static final double[] CN

C(x) for small x numerator.

CD

static final double[] CD

C(x) for small x denominator.

FN

static final double[] FN

Auxiliary function f(x) numerator.

FD

static final double[] FD

Auxiliary function f(x) denominator.

GN

static final double[] GN

Auxiliary function g(x) numerator.

GD

static final double[] GD

Auxiliary function g(x) denominator.

Method Detail

clothoid

public static OTSLine3D clothoid(OTSPoint3D start,
                                 Direction startDirection,
                                 double endCurvature,
                                 Length length,
                                 Length endElevation,
                                 int numSegments)
                          throws OTSGeometryException

Approximate a clothoid with curvature 0 at start.

Parameters:

start - OTSPoint3D; starting point of the clothoid

startDirection - Direction; start direction of the clothoid

endCurvature - double; curvature at the end of the clothoid [1/m]

length - Length; length of the clothoid

endElevation - Length; elevation at end of the clothoid

numSegments - int; number of segments used to approximate (the number of points is one higher than this)

Returns:

OTSLine3D; the clothoid

Throws:

OTSGeometryException - if the number of segments is too low

clothoid

public static OTSLine3D clothoid(OTSPoint3D start,
                                 Direction startDirection,
                                 double startCurvature,
                                 double endCurvature,
                                 Length length,
                                 Length endElevation,
                                 int numSegments)
                          throws OTSGeometryException

Approximate a clothoid.

Parameters:

start - OTSPoint3D; starting point of the clothoid

startDirection - Direction; start direction of the clothoid

startCurvature - double; curvature at the start of the clothoid [1/m]

endCurvature - double; curvature at the end of the clothoid [1/m]

length - Length; length of the clothoid

endElevation - Length; elevation at end of the clothoid

numSegments - int; number of segments used to approximate (the number of points is one higher than this)

Returns:

OTSLine3D; the clothoid

Throws:

OTSGeometryException - if the number of segments is too low

clothoid

public static OTSLine3D clothoid(OTSPoint3D start,
                                 Direction startDirection,
                                 LinearDensity endCurvature,
                                 Length length,
                                 Length endElevation,
                                 int numSegments)
                          throws OTSGeometryException

Approximate a clothoid with curvature 0 at start.

Parameters:

start - OTSPoint3D; starting point of the clothoid

startDirection - Direction; start direction of the clothoid

endCurvature - LinearDensity; curvature at the end of the clothoid

length - Length; length of the clothoid

endElevation - Length; elevation at end of the clothoid

numSegments - int; number of segments used to approximate (the number of points is one higher than this)

Returns:

OTSLine3D; the clothoid

Throws:

OTSGeometryException - if the number of segments is too low

clothoid

public static OTSLine3D clothoid(OTSPoint3D start,
                                 Direction startDirection,
                                 LinearDensity startCurvature,
                                 LinearDensity endCurvature,
                                 Length length,
                                 Length endElevation,
                                 int numSegments)
                          throws OTSGeometryException

Approximate a clothoid.

Parameters:

start - OTSPoint3D; starting point of the clothoid

startDirection - Direction; start direction of the clothoid

startCurvature - LinearDensity; curvature at the start of the clothoid [1/m]

endCurvature - LinearDensity; curvature at the end of the clothoid [1/m]

length - Length; length of the clothoid

endElevation - Length; elevation at end of the clothoid

numSegments - int; number of segments used to approximate (the number of points is one higher than this)

Returns:

OTSLine3D; the clothoid

Throws:

OTSGeometryException - if the number of segments is too low

main

public static void main(String[] args)
                 throws OTSGeometryException

Demonstrate / test the clothoid methods.

Parameters:

args - String[]; the command line arguments (not used)

Throws:

OTSGeometryException - if the number of segments is too low