diff --git a/CMakeLists.txt b/CMakeLists.txt index ce669575..6573d51f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -84,10 +84,13 @@ find_library( NO_DEFAULT_PATH ) if( UTILS ) - message("Found Utils${ARTIFACTS_STATIC_SUFFIX}") - include_directories(${UPDIR}/Utils/lib/include) + message(STATUS "Found Utils${ARTIFACTS_STATIC_SUFFIX}") + ebertolazzi_copy_directory( + "${UPDIR}/Utils/lib" + "${CMAKE_CURRENT_SOURCE_DIR}/lib3rd" + ) else() - message("NOT Found Utils${ARTIFACTS_STATIC_SUFFIX}") + message(STATUS "NOT Found Utils${ARTIFACTS_STATIC_SUFFIX} use submodule") add_subdirectory(./submodules/Utils) include_directories(./submodules/Utils/src) set( UTILS ebertolazzi_Utils_Static ) @@ -101,10 +104,10 @@ find_library( NO_DEFAULT_PATH ) if( ROOTS ) - message("Found quarticRootsFlocke${ARTIFACTS_STATIC_SUFFIX}") + message(STATUS "Found quarticRootsFlocke${ARTIFACTS_STATIC_SUFFIX}") include_directories(${UPDIR}/quarticRootsFlocke/lib/include) else() - message("NOT Found quarticRootsFlocke${ARTIFACTS_STATIC_SUFFIX}") + message(STATUS "NOT Found quarticRootsFlocke${ARTIFACTS_STATIC_SUFFIX}") add_subdirectory(./submodules/quarticRootsFlocke) include_directories(./submodules/quarticRootsFlocke/src) set( ROOTS ebertolazzi_quarticRootsFlocke_Static ) diff --git a/Clothoids.prj b/Clothoids.prj index 660edb2a..4ff3ba53 100644 --- a/Clothoids.prj +++ b/Clothoids.prj @@ -1,5 +1,5 @@ - + Clothoids Enrico Bertolazzi enrico.bertolazzi@unitn.it @@ -7,7 +7,7 @@ Clothoids, a library for clothoids computation and more A library for clothoids computation and more. ${PROJECT_ROOT}/toolbox/logo.png - 2.0.8 + 2.0.10 ${PROJECT_ROOT}/Clothoids.mltbx @@ -117,7 +117,7 @@ setup.m - /Users/enrico/Ricerca/develop/PINS/pins-mechatronix/LibSources/submodules/Clothoids/Clothoids.mltbx + /Users/enrico/Ricerca/Software/REPOS/myReposGit/Clothoids/Clothoids.mltbx @@ -164,7 +164,7 @@ setup.m false false false - 11.6 + 12.1 false true maci64 diff --git a/docs/api-cpp/file_Fresnel.cc.html b/docs/api-cpp/file_Fresnel.cc.html index c74fcc46..96fdb863 100644 --- a/docs/api-cpp/file_Fresnel.cc.html +++ b/docs/api-cpp/file_Fresnel.cc.html @@ -113,8 +113,8 @@

Namespaces

diff --git a/docs/api-matlab/class_a00076.html b/docs/api-matlab/class_a00076.html index c651af5f..d32fe875 100644 --- a/docs/api-matlab/class_a00076.html +++ b/docs/api-matlab/class_a00076.html @@ -299,8 +299,34 @@

Class Documentation -
-function plotPolygon( self, varargin)
+
+function export (in ) +
+
+

Export circle parameters

+

Usage:

+

+
+
S = ref.export();
+
+
+ +

+
    +

  • S.x0, S.y0: initial point of the circle arc

    • +

  • S.x1, S.y1: final point of the circle arc

    • +

  • S.theta0: initial angle of the circle arc

    • +

  • S.theta1: final angle of the circle arc

    • +

  • S.kappa: curvature of the circle arc

    • +

  • S.L: length of the clothoid arc

    • +
+ +
+ + +
+
+function plot_polygon( self, varargin)

Plot the polygon of the NURBS for the arc

@@ -320,6 +346,13 @@

Class Documentation +
+function plotPolygon( self, varargin)
+
+
+

+
function obj_handle( self)
diff --git a/docs/api-matlab/class_a00080.html b/docs/api-matlab/class_a00080.html index 6eacf96f..112d5700 100644 --- a/docs/api-matlab/class_a00080.html +++ b/docs/api-matlab/class_a00080.html @@ -433,6 +433,34 @@

Class Documentation +
+function export (in ) +
+
+

Export clothoid parameters

+

Usage:

+

+
+
S = ref.export();
+
+
+ +

+
    +

  • S.x0, S.y0: initial point of the clothoid arc

    • +

  • S.x1, S.y1: final point of the clothoid arc

    • +

  • S.theta0: initial angle of the clothoid arc

    • +

  • S.theta1: final angle of the clothoid arc

    • +

  • S.kappa0: initial curvature of the clothoid arc

    • +

  • S.kappa1: final curvature of the clothoid arc

    • +

  • S.dk: curvature derivative

    • +

  • S.L: length of the clothoid arc

    • +
+ +
+

+
function optimized_sample( self, npts, max_angle, offs)
@@ -514,8 +542,8 @@

Class Documentation -
-function plotCurvature( self, npts, varargin)
+
+function plot_curvature( self, npts, varargin)

Plot the curvature of the clothoid curve

@@ -536,8 +564,15 @@

Class Documentation -
-function plotAngle( self, npts, varargin)
+
+function plotCurvature( self, npts, varargin)
+
+
+

+ +
+
+function plot_angle( self, npts, varargin)

Plot the angle of the clothoid curve

@@ -558,8 +593,15 @@

Class Documentation -
-function plotNormal( self, step, len)
+
+function plotAngle( self, npts, varargin)
+
+
+

+ +
+
+function plot_normal( self, step, len)

Plot the normal of the clothoid curve

@@ -579,6 +621,13 @@

Class Documentation +
+function plotNormal( self, step, len)
+
+
+

+
function obj_handle( self)
diff --git a/docs/api-matlab/class_a00084.html b/docs/api-matlab/class_a00084.html index 651a3c17..1ca9a873 100644 --- a/docs/api-matlab/class_a00084.html +++ b/docs/api-matlab/class_a00084.html @@ -275,7 +275,7 @@

Class Documentationfunction get( self, k)

-

Get the clothoid at position k. The biarc is returned as a clothoid object or the data defining the clothoid.

+

Get the clothoid at position k. The clothoid is returned as a clothoid object or the data defining the clothoid.

@@ -637,6 +637,32 @@

Class Documentation +
+function export (in ) +
+
+

Export list of clothoids

+

Usage:

+

+
+
S = ref.export();
+
+
+ +

+
    +

  • S.x0: vector of initial point x-coordinate

    • +

  • S.y0: vector of initial point y-coordinate

    • +

  • S.theta0: vector of initial angles

    • +

  • S.kappa0: vector of initial curvatures

    • +

  • S.dkappa: vector of curvature derivative of the segments

    • +

  • S.L: vector of segment length

    • +
+ +
+

+
function plot( self, varargin)
@@ -694,8 +720,8 @@

Class Documentation -
-function plotCurvature( self, npts, varargin)
+
+function plot_curvature( self, npts, varargin)

Plot the curvature of the clothoid list

@@ -721,8 +747,15 @@

Class Documentation -
-function plotAngle( self, npts, varargin)
+
+function plotCurvature( self, npts, varargin)
+
+
+

+ +
+
+function plot_angle( self, npts, varargin)

Plot the angle of the clothoid list

@@ -748,8 +781,15 @@

Class Documentation -
-function plotNormal( self, step, len)
+
+function plotAngle( self, npts, varargin)
+
+
+

+ +
+
+function plot_normal( self, step, len)

Plot the normal of the clothoid list

@@ -770,8 +810,15 @@

Class Documentation -
-function saveSampled( self, filename, ds)
+
+function plotNormal( self, step, len)
+
+
+

+ +
+
+function save_sampled( self, filename, ds)

Save the clothoid list sampled on a file

@@ -803,8 +850,15 @@

Class Documentation -
-function saveClothoids( self, filename)
+
+function saveSampled( self, filename, ds)
+
+
+

+ +
+
+function save_clothoids( self, filename)

Save the clothoid list on a file as a list of segments

@@ -835,6 +889,13 @@

Class Documentation +
+function saveClothoids( self, filename)
+
+
+

+
function obj_handle( self)
diff --git a/docs/api-matlab/class_a00096.html b/docs/api-matlab/class_a00096.html index 2a1e4881..f6d7de37 100644 --- a/docs/api-matlab/class_a00096.html +++ b/docs/api-matlab/class_a00096.html @@ -209,6 +209,30 @@

Class Documentation +
+function export (in ) +
+
+

Export circle parameters

+

Usage:

+

+
+
S = ref.export();
+
+
+ +

+
    +

  • S.x0, S.y0: initial point of the line segment

    • +

  • S.x1, S.y1: final point of the line segment

    • +

  • S.theta: initial/final angle of the line segment

    • +

  • S.L: length of the line segment

    • +
+ +
+

+
function plot( self, varargin)
diff --git a/docs/api-matlab/program_listing_file_CircleArc.m.html b/docs/api-matlab/program_listing_file_CircleArc.m.html index 93a8340c..feefae98 100644 --- a/docs/api-matlab/program_listing_file_CircleArc.m.html +++ b/docs/api-matlab/program_listing_file_CircleArc.m.html @@ -250,6 +250,35 @@

Navigation

plot(X,Y,fmt{:}); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export circle parameters + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`, `S.y0`: initial point of the circle arc + %> - `S.x1`, `S.y1`: final point of the circle arc + %> - `S.theta0`: initial angle of the circle arc + %> - `S.theta1`: final angle of the circle arc + %> - `S.kappa`: curvature of the circle arc + %> - `S.L`: length of the clothoid arc + %> + function S = export( self ) + S.x0 = self.x_begin(); + S.y0 = self.y_begin(); + S.theta0 = self.theta_begin(); + S.kappa = self.kappa_begin(); + S.x1 = self.x_end(); + S.y1 = self.y_end(); + S.theta1 = self.theta_end(); + S.L = self.length(); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the polygon of the NURBS for the arc %> %> **Usage:** @@ -264,7 +293,7 @@

Navigation

%> %> - `fmt` : format of the arc %> - function plotPolygon( self, varargin ) + function plot_polygon( self, varargin ) arc = self.to_nurbs(); xx = arc.coefs(1,:)./arc.coefs(3,:); yy = arc.coefs(2,:)./arc.coefs(3,:); @@ -274,6 +303,11 @@

Navigation

plot(xx,yy,':ok'); end end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotPolygon( self, varargin ) + self.plot_polygon( varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - end end diff --git a/docs/api-matlab/program_listing_file_ClothoidCurve.m.html b/docs/api-matlab/program_listing_file_ClothoidCurve.m.html index 66e42d2c..8efd309e 100644 --- a/docs/api-matlab/program_listing_file_ClothoidCurve.m.html +++ b/docs/api-matlab/program_listing_file_ClothoidCurve.m.html @@ -374,6 +374,39 @@

Navigation

dk = self.kappa_D(0); L = self.length(); end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export clothoid parameters + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`, `S.y0`: initial point of the clothoid arc + %> - `S.x1`, `S.y1`: final point of the clothoid arc + %> - `S.theta0`: initial angle of the clothoid arc + %> - `S.theta1`: final angle of the clothoid arc + %> - `S.kappa0`: initial curvature of the clothoid arc + %> - `S.kappa1`: final curvature of the clothoid arc + %> - `S.dk`: curvature derivative + %> - `S.L`: length of the clothoid arc + %> + function S = export( self ) + S.x0 = self.x_begin(); + S.y0 = self.y_begin(); + S.theta0 = self.theta_begin(); + S.kappa0 = self.kappa_begin(); + S.x1 = self.x_end(); + S.y1 = self.y_end(); + S.theta1 = self.theta_end(); + S.kappa1 = self.kappa_end(); + S.dk = self.kappa_D(0); + S.L = self.length(); + end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Get an optimized sampling of curviliear coordinates on the clothoid arc %> @@ -465,7 +498,8 @@

Navigation

%> %> - `npts`: number of sampling points for plotting %> - function plotCurvature( self, npts, varargin ) + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plot_curvature( self, npts, varargin ) if nargin < 2 npts = 1000; end @@ -476,6 +510,10 @@

Navigation

plot( S, kappa, varargin{:} ); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotCurvature( self, npts, varargin ) + self.plot_curvature( npts, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the angle of the clothoid curve %> %> **Usage:** @@ -490,7 +528,8 @@

Navigation

%> %> - `npts`: number of sampling points for plotting %> - function plotAngle( self, npts, varargin ) + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plot_angle( self, npts, varargin ) if nargin < 2 npts = 1000; end @@ -501,6 +540,10 @@

Navigation

plot( S, theta, varargin{:} ); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotAngle( self, npts, varargin ) + self.plot_angle( nots, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the normal of the clothoid curve %> %> **Usage:** @@ -515,7 +558,8 @@

Navigation

%> - `step`: number of sampling normals %> - `len`: length of the plotted normal %> - function plotNormal( self, step, len ) + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plot_normal( self, step, len ) for s=0:step:self.length() [ x, y, theta, ~ ] = self.evaluate(s); n = [sin(theta),-cos(theta)]; @@ -524,6 +568,10 @@

Navigation

plot(A,B); end end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotNormal( self, step, len ) + self.plot_normal( step, len ); + end end end diff --git a/docs/api-matlab/program_listing_file_ClothoidList.m.html b/docs/api-matlab/program_listing_file_ClothoidList.m.html index 7e890fa0..5a5ce7dd 100644 --- a/docs/api-matlab/program_listing_file_ClothoidList.m.html +++ b/docs/api-matlab/program_listing_file_ClothoidList.m.html @@ -235,7 +235,7 @@

Navigation

end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Get the clothoid at position `k`. - %> The biarc is returned as a clothoid object or the data + %> The clothoid is returned as a clothoid object or the data %> defining the clothoid. %> %> \rst @@ -566,6 +566,43 @@

Navigation

); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export list of clothoids + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`: vector of initial point x-coordinate + %> - `S.y0`: vector of initial point y-coordinate + %> - `S.theta0`: vector of initial angles + %> - `S.kappa0`: vector of initial curvatures + %> - `S.dkappa`: vector of curvature derivative of the segments + %> - `S.L`: vector of segment length + %> + function S = export( self ) + N = ClothoidListMexWrapper( 'num_segments', self.objectHandle ); + S.x0 = zeros(1,N); + S.y0 = zeros(1,N); + S.theta0 = zeros(1,N); + S.kappa0 = zeros(1,N); + S.dkappa = zeros(1,N); + S.L = zeros(1,N); + for k=1:N + [ x, y, th, k0, dk, ell ] = ClothoidListMexWrapper( 'get', self.objectHandle, k ); + S.x0(k) = x; + S.y0(k) = y; + S.theta0(k) = th; + S.kappa0(k) = k0; + S.dkappa(k) = dk; + S.L(k) = ell; + end + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the clothoid list %> %> **Usage:** @@ -674,7 +711,7 @@

Navigation

%> - `fmt1`: format of the first arc %> - `fmt2`: format of the second arc %> - function plotCurvature( self, npts, varargin ) + function plot_curvature( self, npts, varargin ) if nargin > 2 fmt1 = varargin{1}; else @@ -700,6 +737,10 @@

Navigation

end end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotCurvature( self, npts, varargin ) + self.plot_curvature( npts, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the angle of the clothoid list %> %> **Usage:** @@ -719,7 +760,7 @@

Navigation

%> - `fmt1`: format of the first arc %> - `fmt2`: format of the second arc %> - function plotAngle( self, npts, varargin ) + function plot_angle( self, npts, varargin ) if nargin > 2 fmt1 = varargin{1}; else @@ -745,6 +786,10 @@

Navigation

end end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotAngle( self, npts, varargin ) + self.plot_angle( npts, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the normal of the clothoid list %> %> **Usage:** @@ -759,13 +804,17 @@

Navigation

%> - `step`: number of sampling normals %> - `len`: length of the plotted normal %> - function plotNormal( self, step, len ) + function plot_normal( self, step, len ) for k=1:self.num_segments() C = self.get(k); C.plotNormal( step, len ); end end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotNormal( self, step, len ) + self.plot_normal( step, len ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Save the clothoid list sampled on a file %> %> **Usage:** @@ -791,7 +840,7 @@

Navigation

%> %> \endrst %> - function saveSampled( self, filename, ds ) + function save_sampled( self, filename, ds ) fd = fopen( filename, 'w' ); L = self.length(); n = ceil( L / ds ); @@ -804,6 +853,10 @@

Navigation

fclose(fd); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function saveSampled( self, filename, ds ) + self.save_sampled( filename, ds ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Save the clothoid list on a file as a list of segments %> %> **Usage:** @@ -829,7 +882,7 @@

Navigation

%> %> \endrst %> - function saveClothoids( self, filename ) + function save_clothoids( self, filename ) fd = fopen( filename, 'w' ); fprintf(fd,'x0\ty0\ttheta0\tkappa0\tdk\tL\n'); for k=1:self.num_segments() @@ -839,7 +892,11 @@

Navigation

end fclose(fd); end - + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function saveClothoids( self, filename ) + self.save_clothoids( filename ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - end end diff --git a/docs/api-matlab/program_listing_file_LineSegment.m.html b/docs/api-matlab/program_listing_file_LineSegment.m.html index a6041b52..b89cb29b 100644 --- a/docs/api-matlab/program_listing_file_LineSegment.m.html +++ b/docs/api-matlab/program_listing_file_LineSegment.m.html @@ -158,6 +158,31 @@

Navigation

[p1,p2] = LineSegmentMexWrapper('points', self.objectHandle ); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export circle parameters + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`, `S.y0`: initial point of the line segment + %> - `S.x1`, `S.y1`: final point of the line segment + %> - `S.theta`: initial/final angle of the line segment + %> - `S.L`: length of the line segment + %> + function S = export( self ) + S.x0 = self.x_begin(); + S.y0 = self.y_begin(); + S.theta = self.theta_begin(); + S.x1 = self.x_end(); + S.y1 = self.y_end(); + S.L = self.length(); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the segment %> %> **Usage:** @@ -175,6 +200,7 @@

Navigation

[ p1, p2 ] = self.points(); plot( [ p1(1), p2(1) ], [ p1(2), p2(2) ], varargin{:} ); end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - end end diff --git a/docs/genindex.html b/docs/genindex.html index 0e5ee8e5..88f152e2 100644 --- a/docs/genindex.html +++ b/docs/genindex.html @@ -1493,6 +1493,8 @@

C

  • CircleArc::plot (function)
  • CircleArc::plot_bbox (function) +
    • +
  • CircleArc::plot_polygon (function)
  • CircleArc::plot_tbox (function)
    • @@ -1903,8 +1905,14 @@

    C

  • ClothoidCurve::Pinfinity (function)
  • ClothoidCurve::plot (function) +
    • +
  • ClothoidCurve::plot_angle (function)
  • ClothoidCurve::plot_bbox (function) +
    • +
  • ClothoidCurve::plot_curvature (function) +
    • +
  • ClothoidCurve::plot_normal (function)
  • ClothoidCurve::plot_offs (function)
    • @@ -2359,8 +2367,14 @@

    C

  • ClothoidList::operator= (function)
  • ClothoidList::plot (function) +
    • +
  • ClothoidList::plot_angle (function)
  • ClothoidList::plot_bbox (function) +
    • +
  • ClothoidList::plot_curvature (function) +
    • +
  • ClothoidList::plot_normal (function)
  • ClothoidList::plot_offs (function)
    • @@ -2395,6 +2409,10 @@

    C

  • ClothoidList::s_to_index (function)
  • ClothoidList::save (function), [1] +
    • +
  • ClothoidList::save_clothoids (function) +
    • +
  • ClothoidList::save_sampled (function)
  • ClothoidList::saveClothoids (function)
    • diff --git a/docs/objects.inv b/docs/objects.inv index 8a903e48..b6aceb3d 100644 Binary files a/docs/objects.inv and b/docs/objects.inv differ diff --git a/docs/searchindex.js b/docs/searchindex.js index 6f40cea1..48b7cdef 100644 --- a/docs/searchindex.js +++ b/docs/searchindex.js @@ -1 +1 @@ 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ass:[18,133,160,187],clothoidcurvemexwrapp:[178,181],clothoiddata:[109,119,122,127],clothoiddist:[34,55,133,141,181],clothoidg2:[34,55,62,133,141,181],clothoidlib:108,clothoidlist:[3,9,10,11,13,16,23,34,37,55,102,107,112,117,119,125,129,131,133,140,141,156,158,173,180,181,184,187,188,189,191],clothoidlistclass:[18,133,160,187],clothoidlistmexwrapp:[179,181],clothoidoffset:108,clothoidpoint:108,clothoids_back_compat:[114,116,117,118,119,121,124,125],clothoids_dot_hh:[34,112,133,140],clothoidsfil:[55,133],clothoidsplineg2:[32,43,102,110,121,133,140,173,187,188,189,191],clothoidsplineg2class:[18,133,160,187],clothoidsplineg2mexwrapp:[180,181],clotoidi:110,clousur:12,cmake:191,cmath:[28,29,34,49,106,107,112,127],cmd:181,cmdcomp:108,cmdopen:108,co:[6,7,61,65,66,68,72,84,87,90,91,96,98,104,106,107,109,110,116,118,122,123,124,127,128,130,132,175,178],code:[175,176,177,178,179,182,183,184,186,191],coef:177,coeff:110,colinear:130,collect:[2,16,74,89,95],collid:[1,2,150,151,152,153,154,156,157,158,182],collinear:130,collis:[1,2,3,4,5,6,7,12,15,16,51,102,103,105,106,107,111,113,114,116,117,118,119,121,124,125,129,130,131,133,140,150,151,152,153,154,156,157,158,182],collision_fun:[2,113],collision_iso:[3,4,5,6,7,12,15,16,51,102,105,106,107,111,114,116,117,118,119,121,124,125,129,130,133,140],collision_list:[125,131],collision_sa:[3,4,5,6,7,12,15,16,36,102,114,133,140],color:[0,150,151,152,153,154,156,157,158,159,175,176,177,178,179,182,183,184,186],com:[0,98,127,191],comand:0,combin:[9,10],command:0,compar:7,compat:[114,116,117,118,119,121,124,125],compil:[0,112,129,181,191],compileclothoidslib:[0,185,191],compilefil:[108,120],compileoctav:[173,187,189],compiut:[150,151,152,153,154,156,157,158,182],complex:2,complexroot:128,compon:[3,4,5,6,7,12,15,16],compos:[9,10,11,12,150,155,175,180],comput:[0,2,3,4,5,6,7,11,12,13,15,16,61,65,66,79,94,97,98,102,107,110,116,122,127,128,132,150,151,152,153,154,155,156,157,158,176,178,180,182,191,192],compute_deriv:[122,127],comunqu:110,con:[155,180],condit:[155,180,191],connect:[0,5,12],consecut:[97,151,155,176,180],consecutivi:111,consequenti:191,consid:109,consist:[128,154,179],consol:[150,152,153,156,157,158,182,191],const_iter:[103,105,107,111,113,131],constant:0,constraint:[13,110,121,180],constrainttoler:180,construct:[1,2,4,5,6,7,9,10,11,15,97,155,180],constructor:[104,105,106,107,114,127,128,129,130,131,175],constuctor:191,contain:[0,5,12,132,150,151,152,153,154,156,157,158,182,184],content:2,continu:[0,12,111,128,155,180,191,192],contract:191,contributor:191,controllar:127,convenct:[154,179],converg:[107,109,110,111,127],convers:[105,110,111],convert:[104,105,106,107,130,131],coodin:[0,3,4,5,6,7,12,15,16],cooordin:7,coordin:[0,1,2,3,4,5,6,7,11,12,15,16,71,72,75,81,97,150,151,152,153,154,156,157,158,159,174,175,176,177,178,179,182,183,184,185,186],copi:[1,4,5,6,7,12,15,16,105,107,110,111,116,117,118,119,121,124,125,131,150,151,152,153,154,156,157,158,182],copia:111,coplanar:132,copy_n:110,copyright:[103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,191],corrdin:[153,178],correspond:182,cosal:106,cosc:[50,102,123,127,128,133,140],cosc_d:[50,102,123,128,133,140],cosc_dd:[50,102,123,128,133,140],cosc_ddd:[50,102,123,128,133,140],cosin:[65,66,127],cosom:106,costheta0:[6,118],costruisco:[106,110],cosu:127,counter:83,counterclock:130,counterclockwis:[17,83,130],cout:[108,112,131],cover:[1,3,4,5,7,12,15,16,150,151,152,153,154,156,157,158,182],cr:110,crea:111,creat:[2,150,151,152,153,154,157,158,159,175,176,177,178,179,183,184,186],crescent:109,cs:109,csf:109,ct:127,cu:180,cubic:[127,181],cubicsolv:127,currbox:103,curv:[0,2,3,4,5,6,7,11,12,15,16,17,69,74,80,89,92,95,97,109,110,127,150,151,152,153,154,156,157,158,175,177,178,179,182,183,184],curvatir:7,curvatur:[0,3,4,5,6,7,9,10,11,12,15,16,72,76,90,91,104,111,114,116,118,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,182,191,192],curvatureminmax:[7,11,107,110,119,121],curvaturetotalvari:[7,11,107,119,121],curvebas:[150,151,152,153,154,157,158,173,175,176,177,178,179,183,184,187,188,189],curvebaseclass:[160,187],curvetyp:[3,4,5,6,7,12,15,16,18,36,102,114,129,133,140],curvetype_nam:[50,102,104,105,106,107,114,128,129,130,131,133,140],curviliear:[153,178],curvilinar:[151,176],curvilinear:[0,3,4,5,6,7,11,12,15,16,150,151,152,153,154,156,157,158,175,176,178,179,182,183,184],cut:[0,3,4,5,6,7,12,15,16,150,151,152,153,154,156,157,158,182],cutpo:103,cx:[0,3,4,5,6,7,11,12,15,16,17,105,106,109,111,114,116,117,118,119,121,122,123,124,125,126,127,130,132,150,151,152,153,154,156,157,158,159,182,186],cy:[0,3,4,5,6,7,11,12,15,16,17,105,106,109,111,114,116,117,118,119,121,122,123,124,125,126,127,130,132,150,151,152,153,154,156,157,158,159,182,186],cycl:108,cyclic:[155,180],cz:127,d0:[109,110],d1:[109,110,132],d2:132,d3:132,d:[0,7,56,60,64,67,68,70,85,87,96,98,104,106,109,110,127,128,155,180],da:[109,110],damag:191,dangl:128,data:[3,4,5,6,7,9,10,11,12,15,16,110,111,121,150,151,154,175,176,179,191],date:[98,127],dati:110,db:109,dc0:127,dc1:127,dc2:127,dc:127,dd:110,ddf:[104,109],deactiv:[150,151,152,153,154,156,157,158,182],debug:[155,180],decemb:132,decrescent:109,defin:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,107,112,127,132,134,135,136,137,138,139,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174,176,179],definit:[141,189],definiton:12,degener:[5,6,17,124,152,177],degli:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],degre:[117,118,119,121,124,125],delet:[103,114,180,181,182,186],dell:[103,112,113,115],delta:[104,127],delta_theta:[4,6,116,118],deltak:[110,121],deltakappa:[12,111,121,154,179],deltatheta:[6,7,11,12,107,110,111,118,119,121,122,154,179],denterm:127,depart:185,deriv:[0,4,5,6,7,11,12,15,16,61,133,140,150,151,152,153,154,155,157,158,178,179,180,182,187,188],derivative_test:180,derivative_test_perturb:180,derivative_test_tol:180,derivatuv:[150,151,152,153,154,156,157,158,182],derivatv:[153,178],describ:[0,7,11,132,153,155,178,180],descript:[0,133,140],descrit:0,desid:11,design:[0,4,191,192],destroi:[2,159,182,186],destruct:182,destructor:129,det:[107,127,128,130],detail:[130,133,140],detect:[1,3,4,5,6,7,12,15,16,119],determin:[154,179],dev:108,devil:132,devit:[3,4,5,6,12,15,16],df:[104,109,110,127],dg:127,di:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],diagnost:[105,110,111,127,128,129],diff2pi:[110,121],diff:180,differ:[11,12,180],difference_typ:131,dii:[0,190,191],dim:[155,180],dimension:[2,132],dipartimento:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],direct:[0,72,76,90,150,151,152,153,154,156,157,158,182,183,191],directori:[0,35,36,37,38,39,40,41,42,43,44,45,46,47,48,55,133],disabl:94,disc:128,disclaim:191,disp:181,displai:180,displayax:[8,108,120],displaystyl:[7,155,180],dist:180,distanc:[1,2,3,4,5,6,7,12,15,16,76,90,97,103,105,107,109,111,113,114,115,132,150,151,152,153,154,156,157,158,176,178,179,180,182,191,192],distance_iso:[3,4,5,6,7,12,15,16,114,115],distance_sa:[3,4,5,6,7,12,15,16,114,115],distancebysampl:[7,119,153,154,178,179],distancemax:[159,186],distancemin:[159,186],distanza:[109,130],distinct:[155,180],distmax:[17,126,132],distmin:[17,105,107,111,126,132],distribut:191,distseg:132,diverg:[11,109],dk0:110,dk0_sm:110,dk0_thm:110,dk1:110,dk1_sm:110,dk1_thm:110,dk2:[107,110],dk3:[107,110],dk4:107,dk5:107,dk6:107,dk:[0,7,107,109,110,111,119,122,127,153,154,178,179],dk_d:[7,110,119,122,127],dk_l:110,dk_r:110,dkappa:[7,12,108,110,111,119,121,153,154,178,179],dkl:110,dkl_d:110,dkm:110,dkm_sm:110,dkm_thm:110,dkr:110,dkr_d:110,dkur:110,dm:109,dmax:[11,110,121],dmin:103,document:[0,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,140,175,176,177,178,179,180,181,182,183,184,185,186,187,188,191],doesn:130,doi:[0,153,178,191,192],domega:128,done:[129,181],dot:[8,108,120],doubl:[112,132,134,182],download:[0,191],doxygen_should_skip_thi:[105,107,109,110,111,117,119,121,122,125,127,128,129,130,131,132],dp:109,draw:108,drawclothoid:[8,108,120],drawlin:[8,108,120],drawrect:[8,108,120],ds0:127,ds1:127,ds2:127,ds:[7,106,107,109,119,127,128,151,153,154,176,178,179],dsm2:110,dsm:110,dsmsm:110,dss:107,dst1:[104,107,111,131],dst:[3,4,5,6,7,12,15,16,103,104,105,106,107,109,111,114,116,117,118,119,121,123,124,125,130,131,150,151,152,153,154,156,157,158,178,179,182,186],dt2:127,dt:[61,65,66,127],dth0:104,dth1:104,dth:[104,110,127],dtheta:[106,109,122,127,179],dx1:[128,132],dx2:128,dx:[103,104,106,107,109,110,127,128,130,132],dxa:[104,106],dxb:[104,106],dxc:106,dy1:[128,132],dy2:128,dy:[103,104,106,107,109,110,127,128,130,132],dya:[104,106],dyb:[104,106],dyc:106,dylib:191,e2:127,e:[0,3,4,5,6,7,11,12,15,16,83,103,112,113,115,127,153,155,178,180,190,191,192],each:[3,4,5,6,7,12,15,16,74,89,95,97,132],easi:0,ebertolazzi:[0,191],effici:2,elaps:180,element:111,ell:[109,127],els:[103,104,105,106,107,108,109,110,111,112,113,114,123,124,127,128,129,130,131,132,175,176,177,178,179,180,182,184],elseif:[176,179,181],email:[0,98,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],empti:[0,2,4,5,6,7,9,10,12,103,105,108,111,113,131,152,157,177,183],enabl:79,end:[7,9,10,11,103,104,105,107,111,113,125,131,155,175,176,177,178,179,180,181,182,183,184,185,186],endif:[103,105,106,107,109,110,111,112,113,114,115,116,117,118,119,121,122,123,124,125,127,128,129,130,131,132],endl:108,endpoint:[9,10,11],endrst:[175,176,177,178,179,180,182,183,184,186],energi:4,engin:185,enrico:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,185,190,191],entrambi:109,enumer:[13,24],eof:[105,106,107,109,110,111,127,128,129,130,131],ep:127,eps10:127,eps1:[106,107],eps2:[106,107],epsi:[12,104,109,111,121,123,128,130],epsilon:[104,128,146],equat:[71,75],eras:[103,105,111,131],err1:111,err2:111,err:131,error:[111,150,151,152,153,154,156,157,158,175,176,179,180,182,185],espilon:146,estim:[12,107,154,179],estremi:109,eval:[0,3,4,5,6,7,11,12,15,16,104,105,106,107,109,110,111,114,115,116,117,118,119,121,122,124,125,127,128,130,150,151,152,153,154,156,157,158,177,178,181,182],eval_d:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_dae_dd:122,eval_dd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_ddd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_iso:[3,4,5,6,7,11,12,15,16,104,105,106,107,110,111,114,115,116,117,119,121,122,124,125,127,128,130,131],eval_iso_d:[3,4,5,6,7,11,12,15,16,104,105,107,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_iso_dd:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_iso_ddd:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_sa:[3,4,5,6,7,12,15,16,114,115,122],eval_sae_d:[3,4,5,6,7,12,15,16,114,115,122],eval_sae_dd:[3,4,5,6,7,12,15,16,114,115],eval_sae_ddd:[3,4,5,6,7,12,15,16,114,115,122],evala:[110,121],evalf:[110,121],evalfj:[110,121],evalg:[110,121],evalu:[3,4,5,6,7,12,15,16,104,105,109,110,111,114,115,116,117,118,119,121,122,127,150,151,152,153,154,156,157,158,175,176,178,179,182,191],evaluate_iso:[3,4,5,6,7,12,15,16,105,111,114,115,117,121],evaluate_sa:[3,4,5,6,7,12,15,16,114,115],evalxyalarg:127,evalxyasmal:127,evalxyazero:127,even:[154,158,179,184,191],event:191,everi:[151,154,176,179],exampl:[0,98],exchang:2,exemplari:191,exist:[4,6,7,9,10,12,180],exitflag:180,expans:127,expect:[176,179],explicit:[4,5,6,7,12,15,16,116,117,118,119,121,124,125],export_rubi:[12,111,121,154,179],export_t:[12,111,121,154,179],express:191,extend:0,extern:[114,123],extrema:[155,180],f0:110,f1:110,f2:110,f3:110,f4:110,f5:110,f6:110,f7:110,f:[13,104,108,109,110,121,127,180],f_j:110,facealpha:[150,151,152,153,154,156,157,158,182],fact:[0,14,127],factor:[0,3,4,5,6,7,12,14,15,16,110,123,128,150,151,152,153,154,156,157,158,159,177,182,186],faculti:[0,190,191],fail:[9,10,11,12,14,104,108,111,154,175,179,180],fair:4,fall:130,fals:[2,4,12,14,104,105,106,107,109,110,111,113,117,119,121,122,123,125,127,128,129,130,131,132,180],fast:132,fclose:[176,179],fd:[127,176,179],feval:182,ff:[106,110],field:[154,179],file:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,19,20,21,22,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,134,135,136,137,138,139,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174,191,192],fileexchag:83,filenam:[8,108,120,151,154,176,179],fill:[108,110,182,186],fill_n:110,find:[0,3,4,5,6,7,12,15,16,104,108,130,151,153,154,176,178,179],find_coord1:[151,154,176,179],find_coord:[150,151,152,153,154,156,157,158,175,182],findat:[5,12,16,105,111,117,121,125,131],findst1:[5,12,105,111,117,121,176,179],findst:[105,111,114,175,182],findst_iso:[3,4,5,6,7,12,15,16,105,111,114],findst_sa:[3,4,5,6,7,12,15,16,114],finit:180,finitedifferencetyp:180,first:[0,3,4,5,6,7,9,10,11,12,15,16,69,71,73,74,75,80,83,89,91,92,95,103,104,105,107,111,113,127,131,150,151,152,153,154,155,156,157,158,174,175,176,179,180,182,184,185],fit:[0,4,11,12,192],fix:[9,10,11,153,178],flag:12,flat:83,flex:[107,109,127],floor:[106,107,127],flush:112,fmincon:180,fmod:[111,128],fmt1:[0,150,151,154,158,175,176,179,184],fmt2:[0,150,151,154,158,175,176,179,184],fmt:[103,106,107,108,110,111,112,113,127,130,131,132,152,177],fn:127,fname:[154,179],follow:[0,7,12,130,191],fontsiz:108,foo:113,fopen:[176,179],forc:107,forg:181,forget:191,form:[0,109,151,154,176,179,191],format:[0,107,111,112,150,151,152,154,158,175,176,177,179,184],formula:130,forward:[7,110],found:[3,4,5,6,7,12,14,15,16,104,111,124],four:130,fp_infinit:[110,128],fp_nan:[110,128],fpclassifi:[110,128,129],fprintf:[176,179,181],frac:[56,57,60,61,64,65,66,67,68,70,84,85,86,87,91,96],frame:110,free:[0,190,191],frego:[0,7,11,120,153,155,178,180,190,191,192],fresnel:[7,23,34,55,61,65,66,98,102,110,112,133,141,181,191],fresnelc:[49,102,109,122,127,133,140,181,191],friend:[1,4,5,6,7,11,12,13,15,16,17,113,116,117,118,119,121,124,125,126],from:[0,4,5,6,7,11,12,15,16,72,76,83,90,98,104,105,106,107,108,110,127,130,131,132,150,151,152,153,154,156,157,158,176,177,178,179,182,183],front:[103,105,111,117,121,125,131],fsolv:180,fstream:[34,112],full:[128,191],fun:[105,107,111,131],func:180,g0:110,g1:[0,5,6,7,12,110,150,153,175,178,192],g2:[0,5,9,10,11,12,13,110,121,154,155,179,180,192],g2lib:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,23,24,25,26,27,28,29,30,31,32,33,34,35,36,38,39,40,41,42,43,44,46,47,48,49,51,52,53,54,55,103,104,105,106,107,108,109,110,111,112,113,114,116,117,118,119,120,121,122,124,125,126,127,129,130,131,132,133,140,141,181,191],g2lib_biarc:[24,104,105,106,107,111,114,116,129,130,131],g2lib_biarc_list:[24,104,105,106,107,111,114,117,129,130,131],g2lib_circl:[24,104,105,106,107,111,114,118,129,130,131],g2lib_clothoid:[24,104,105,106,107,111,114,119,129,130,131],g2lib_clothoid_list:[24,104,105,106,107,111,114,121,129,130,131],g2lib_compatibility_mod:[114,115,119,123,128],g2lib_debug:112,g2lib_debug_messag:[34,105,107,109,111,112,129,133,140],g2lib_do_not_use_cxx11:112,g2lib_intersect:[34,55,69,74,92,95,133,141,181],g2lib_lin:[24,104,105,106,107,111,114,124,129,130,131],g2lib_polylin:[24,104,105,106,107,111,114,125,129,130,131],g2lib_use_cxx11:[34,103,105,107,111,112,113,129,131,133,140],g2libclass:[18,133],g2problem3arc:180,g2solve2arc:[43,102,110,121,133,140],g2solve2arcclass:[18,133],g2solve3arc:[43,102,110,111,121,133,140],g2solve3arcclass:[18,133],g2solveclc:[43,102,110,111,121,133,140],g2solveclcclass:[18,133],g:[7,9,10,11,12,13,97,109,110,116,121,127,155,180],g_1:[110,121],g_2:[110,121],ga:104,gamma:[109,127],gb:104,gcc:[105,110,111,127],gd:127,geeksforgeek:130,gener:[0,6,7,107,108,130],generalizedfresnelc:[49,102,110,122,127,133,140],geom2d:83,geometr:132,geomprimit:113,get:[2,5,6,7,11,12,105,111,117,121,131,150,151,152,153,154,156,157,158,175,176,178,179,182],get_circl:[0,150,175],get_id:[105,111,117,121,125,131],get_par:0,getat:[5,12,105,111,117,121],getcircl:[150,175],getdata:[150,175,176],getdeltakappa:[12,111,121],getdeltatheta:[12,111,121],getlin:111,getpar:[0,153,178,179],getrealroot:127,gets0:[9,10,11,121],gets1:[9,10,11,121],getseg:[16,125,131],getsk:[12,111,121],getsm:[10,11,121],getstk:[5,12,105,111,117,121,154,179],getxi:[5,12,105,111,117,121,151,154,176,179],gfun:[104,116],git:191,github:[0,191],given:[0,2,3,4,5,6,7,12,15,16,81,97,130,151,152,154,158,176,177,179,184],glib2_tol_angl:[34,105,107,109,111,112,133,140],gmail:[98,127],gn:127,go:[107,110],good:[111,191],gradient:[13,110,121,180],graph:108,graphic:132,guess:[11,13,81,97,109,110,121,127,128,154,155,179,180],guid:[98,127],guigu:132,guiguedevillers03:132,guozhao:4,h:104,ha:12,hallei:104,handl:[150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,183,184,186],have:[127,191],header:191,hemit:4,hermit:[0,6,7,11,191,192],hessian_approxim:180,hessian_const:180,hh:[19,20,21,22,25,26,27,28,29,30,31,32,33,35,36,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,102,103,104,105,106,107,108,109,110,111,127,128,129,130,131,132,134,137,138,139,141,191],hhfile:[55,133],hidden:[180,182,186],hierarchi:191,hold:[175,176,179,184],holder:191,homepag:[0,190,191],howev:191,http:[0,130,132,153,178,190,191,192],hxx:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,23,24,34,63,72,79,80,89,93,94,102,112,135,136,141],hxxfile:[55,133],hypot:[103,104,105,106,107,109,110,111,123,127,128,130,131,132],i1:[105,107,111],i2:[105,107,111],i:[0,3,4,5,6,7,12,13,15,16,83,106,107,111,121,123,127,128,131,155,180,181],i_begin:[105,111,131],i_end:[105,111,131],ib:111,ibegin:[5,12,105,111,117,121,154,179],ic0:131,ic1:131,ic:[105,107,111,131],icas:[103,113],icod:[114,186],icurv:[3,4,5,6,7,12,15,16,17,105,106,107,111,114,116,117,118,119,121,124,125,126,131,154,179],icurve1:111,icurve_begin:[12,111,121],icurve_end:[12,111,121],id:[1,6,113,150,151,152,153,154,156,157,158,182],identifi:1,idx1:180,idx2:180,idx:[5,12,105,111,117,121,125,131,151,176,179,184],ie:111,iend:[5,12,105,111,117,121,154,179],ifdef:[103,105,106,107,109,110,111,112,113,114,115,116,117,118,119,121,123,124,125,127,128,129,130,131,132],iff:[153,178],iflag:[150,151,152,153,154,156,157,158,179,182],ifndef:[105,107,109,110,111,112,117,119,121,122,125,127,128,129,130,131,132],ifun:[2,113],ignor:[105,110,111,127,128,129],ignoredarg:[150,151,152,153,154,157,158,159],ii:110,ij:128,il:[107,111,125],ilist00:104,ilist01:104,ilist10:104,ilist11:104,ilist1:105,ilist:[3,4,5,6,7,12,15,16,74,89,95,104,105,106,107,111,114,116,117,118,119,121,124,125,129,131],illustr:[98,127],imag:180,implement:[0,2,132],impli:191,improv:107,inc:181,incident:191,includ:[103,104,105,106,107,108,109,110,111,112,116,117,118,119,121,124,127,128,129,130,131,132,141,191],index:[2,3,4,5,7,12,15,16,105,111,158,180,184],indirect:191,industri:185,industrial:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],infin:[0,7,103,105,107,111,153,178],infinit:111,info:[0,3,4,5,6,7,12,13,15,16,17,114,116,117,118,119,121,122,124,125,126,127,150,151,152,153,154,156,157,158,159,176,179,180,182,186],inform:[1,132,150,152,153,156,157,158,182],informazion:[103,112,113,115],infti:7,ingegneria:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],inherit:[133,140,187,188],init:[5,12,16,105,111,117,121,125,131],init_promote_map:129,initfil:[108,120],initi:[0,2,3,4,5,6,7,11,12,15,16,76,91,111,131,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,182,183],inizial:127,inlin:[1,2,3,4,5,6,7,9,10,11,12,13,14,15,16,17,63,72,79,80,89,93,94,110,113,114,123,128,132],input:[61,111,127,150,151,152,153,157,159,174,175,176,177,178,183,185,186],insert:103,insid:[17,72,73,107,109,127],instal:181,instanc:[150,151,152,153,154,157,158,159,175,176,177,178,179,180,182,183,184,186],instead:[3,4,5,6,7,12,15,16,74,89,95],int_0:[7,61,65,66,98,155,180],int_typ:[1,3,4,5,6,7,12,13,15,16,17,34,49,71,73,75,81,83,91,97,102,103,104,105,106,107,109,110,111,112,113,114,116,117,118,119,121,122,123,124,125,126,127,128,130,131,132,133,140],intc:[65,66,122,127],integr:[7,11,61,65,66,98,122,127,155,180],integralcurvature2:[7,11,107,119,121],integraljerk2:[7,11,107,119,121],integralsnap2:[7,11,107,119,121],interb:[150,151,152,153,154,156,157,158,182],interfac:191,interior:180,intermedi:6,intern:[154,179],interpol:[0,11,121,150,153,155,175,178,180,191,192],interrupt:191,intersect:[2,3,4,5,6,7,12,15,16,51,69,74,80,89,91,92,102,103,104,105,106,107,111,113,114,116,117,118,119,121,124,125,129,130,131,132,133,140,150,151,152,153,154,156,157,158,174,178,182,185,191],intersect_iso:[3,4,5,6,7,12,15,16,51,102,104,105,106,107,111,114,116,117,118,119,121,124,125,129,130,133,140],intersect_sa:[3,4,5,6,7,12,15,16,36,102,114,133,140],intersect_with_aabbtre:[50,102,105,107,111,123,128,133,140],intersectcirclecircl:[50,102,106,123,128,133,140],intersection_test_edg:132,intersection_test_vertex:132,intersectionlist:[2,103,113,131],intersectlist:[3,4,5,6,7,12,15,16,36,74,89,95,102,104,105,106,107,111,114,116,117,118,119,121,124,125,129,131,133,140],intial:[0,3,4,5,6,7,12,15,16,157,183],invari:110,invcoscsinc:128,invers:14,inversa:110,io:181,iomanip:[34,112],iostream:[34,112],ip:[105,107,111,131],ipair:[36,102,104,105,106,107,111,114,124,131,133,136,140],ipo:[1,105,107,111,113,117,119,121,125,131,151,176,179],ipopt:[155,180],ipopt_check:[155,180],ipopt_check_gradi:180,ipos0:131,ipos1:[105,107,111,131],ipos2:[105,107,111],is0:131,is1:131,is_clos:[12,121,154,179],is_open:108,is_typ:[150,151,152,153,154,157,158,159,175,176,177,178,179,182,183,184,186],iscounterclockwis:[17,50,102,123,126,128,133,140],iseg:[105,111,179],isfinit:107,isinsid:[17,126,132,159,186],iso:[3,4,5,6,7,12,15,16,150,151,152,153,154,156,157,158,178,179,182],isoctav:180,ispc:181,ispointintriangl:[50,102,123,126,128,133,140],isregular:111,iss1:111,iss2:111,istream_typ:[12,34,102,111,112,121,133,140],istringstream:111,isunix:181,iszero:[105,107,111,125,128],itar:107,iter:[7,9,10,11,34,103,104,105,106,107,109,110,111,112,125,127,128,131,180],iter_opt:180,its:[61,155,180],j:[0,7,13,98,110,121,123,127,128,180,191,192],jac:180,jac_d_const:180,jaceq:180,jacobian:[13,110,121,180],jacobian_approxim:180,jacobian_nnz:[13,110,121],jacobian_pattern:[13,110,121,180],jacobian_pattern_matlab:[13,110,121],jacobiano:110,jacobianstructur:180,jerk:[11,155,180],jgt:132,jj:[110,127],john:[0,191,192],join:[1,103,113],journal:[0,11,132,153,178,191,192],jpg:180,juction:4,juli:132,junction:[150,175],k0:[0,104,110,121,127,152,153,177,178,179],k1:[104,110,121],k2:[106,107,110],k3:[106,107,110],k4:[107,110],k5:107,k6:107,k:[0,3,4,5,6,7,12,15,16,65,66,72,76,90,104,105,106,107,110,111,114,116,117,118,119,121,123,127,128,131,151,154,155,176,179,180,181,182,184],k_d:[7,110,119,122,127],ka2:128,ka:[110,128],kappa0:[0,4,7,9,10,11,12,107,109,110,111,116,119,121,122,127,150,151,152,153,154,155,156,157,158,175,178,179,180,182],kappa1:[0,4,9,10,11,12,91,107,109,110,111,116,121,123,128,150,151,152,153,154,156,157,158,175,179,182],kappa2:[91,123,128],kappa:[0,3,4,5,6,7,9,10,11,12,15,16,105,107,109,110,111,114,117,118,119,121,122,127,150,151,152,153,154,155,156,157,158,175,176,178,179,180,182],kappa_0:[7,9,10,11],kappa_1:[9,10,11,91],kappa_2:91,kappa_begin:[0,3,4,5,6,7,11,12,15,16,105,107,108,110,111,114,116,118,119,121,131,150,151,152,153,154,156,157,158,178,182],kappa_d:[0,3,4,5,6,7,12,15,16,114,122,150,151,152,153,154,156,157,158,178,182],kappa_dd:[3,4,5,6,7,12,15,16,114,122,150,151,152,153,154,156,157,158,182],kappa_ddd:122,kappa_end:[0,3,4,5,6,7,11,12,15,16,105,107,110,111,114,116,118,119,121,131,150,151,152,153,154,156,157,158,182],kappa_fun:127,kappabegin:[0,114,116,118,119,150,151,152,153,154,156,157,158,182],kappaend:[0,114,116,118,119,150,151,152,153,154,156,157,158,180,182],kappan:12,kb2:128,kb:[110,128],kk:[106,107,110],kl:[12,107],kl_d:110,km:[107,110],km_sm:110,km_thm:110,kmax1:110,kmax:[7,11,107,110,119,121,127],kmin1:110,kmin:[7,11,107,110,119,121,127],knot:[6,15,106,118,124,130],known:[152,153,177,178],kp:107,kr:107,kr_d:110,kur:110,l0:[0,104,110,131],l1:[0,104,110,129,130,131,132],l2:[0,110,128,129,130,132],l3:[110,132],l:[0,5,6,7,9,10,11,12,15,16,90,104,105,106,107,109,110,111,117,118,119,121,122,123,124,125,127,128,130,131,152,153,154,155,157,175,176,177,178,179,1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Interface Manual","Class BBox","Class AABBtree","Class BaseCurve","Class Biarc","Class BiarcList","Class CircleArc","Class ClothoidCurve","Class AsyPlot","Class G2solve2arc","Class G2solveCLC","Class G2solve3arc","Class ClothoidList","Class ClothoidSplineG2","Class Solve2x2","Class LineSegment","Class PolyLine","Class Triangle2D","Class Hierarchy","Define G2LIB_DEBUG_MESSAGE","Define G2LIB_USE_CXX11","Define GLIB2_TOL_ANGLE","Define CLOTHOIDS_dot_HH","Directory Clothoids","Enum CurveType","File AABBtree.cc","File Biarc.cc","File BiarcList.cc","File Circle.cc","File Clothoid.cc","File ClothoidAsyPlot.cc","File ClothoidDistance.cc","File ClothoidG2.cc","File ClothoidList.cc","File Clothoids.hh","File AABBtree.hxx","File BaseCurve.hxx","File BaseCurve_using.hxx","File Biarc.hxx","File BiarcList.hxx","File Circle.hxx","File Clothoid.hxx","File ClothoidAsyPlot.hxx","File ClothoidList.hxx","File Fresnel.hxx","File G2lib.hxx","File Line.hxx","File PolyLine.hxx","File Triangle2D.hxx","File 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dp7:[155,180],buildp8:[155,180],buildp9:[155,180],buildsolut:[110,121],builtin:180,buond:1,buoni:109,busi:191,c0:[4,72,76,90,104,109,110,111,116,121,122,123,127,128,131,150,175],c0x:[109,122],c0y:[109,122],c10:[110,121],c11:[110,121],c12:[110,121,128],c13:[110,121],c14:[110,121],c1997:127,c1:[0,4,69,74,80,89,92,95,103,104,105,109,110,111,113,114,116,117,121,122,127,129,131,150,175],c2:[0,69,74,80,89,92,95,103,105,110,111,113,114,117,121,129],c3:[110,121],c4:[110,121],c5:[110,121],c6:[110,121],c7:[110,121],c8:[110,121],c9:[110,121],c:[0,3,4,5,6,7,8,11,12,13,15,16,17,58,61,62,65,66,71,75,88,93,98,101,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,181,182,183,184,186],c_:111,c_dst:111,c_off:[7,119],c_re:111,c_str:108,c_t:111,c_x:[3,4,5,6,7,11,12,15,16,111],c_y:[3,4,5,6,7,11,12,15,16,111],ca1:128,ca2:128,cad:[0,191,192],cad_16:[0,191,192],calcolo:[110,111],calcul:127,call:[14,155,180],callback:180,cam:[0,191,192],can:[0,6,152,154,177,179,191],candid:[2,105,107,111],candidatelist:[2,103,105,107,111,113],cannot:[4,5,12,104,105,106,107,116,130,131,151,176],caus:191,cb:127,cc0:106,cc:[34,55,56,57,58,59,60,61,62,64,65,66,67,68,69,70,71,73,74,75,76,77,78,81,82,83,84,85,86,87,88,90,91,92,95,96,97,98,99,100,101,102,133,141,142,143,144,145,146,147,148,149,181],ccfile:[55,133],ccurvatur:[3,4,5,6,7,12,15,16],cd1:109,cd:[0,107,109,191],ceil:[106,107,131,176,179],cell:0,center:[0,3,4,5,6,7,11,12,15,16,106,118,159,180,186],centr:[159,186],central:180,ceq:180,cerco:[107,127],cerr:110,cf:127,cfloat:[27,29,32,33,49,105,107,110,111,127],cg:127,chang:[0,4,6,7,12,152,153,177,178,182],change_curvilinear_origin:[6,7,106,110,118,119,152,153,177,178],change_origin:[0,3,4,5,6,7,12,15,16,104,105,110,111,114,116,117,118,119,121,124,125,131,150,151,152,153,154,156,157,158,182],changecurvilinearorigin:[118,119,152,153,177,178],changeorigin:[0,114,118,119,121,124,150,151,152,153,154,156,157,158,182],check:[2,3,4,5,6,7,12,15,16,72,73,103,105,107,109,110,111,112,113,128,129,130,150,151,152,153,154,155,156,157,158,174,179,180,182,185],checkgradi:180,children:[103,113],chk:180,chose:0,ci:111,cicl:0,ciclic:[104,111],circl:[0,4,5,6,7,12,15,23,34,37,55,72,76,90,91,101,102,107,109,112,128,133,141,148,150,151,152,157,175,176,177,181,182,183],circlearc:[3,4,5,7,12,16,28,40,102,104,105,106,107,111,116,117,118,119,121,124,125,129,131,133,140,154,156,158,173,175,179,184,187,188,189,191],circlearcclass:[18,133,160,187],circlearcmexwrapp:[177,181],circular:109,ck:[105,111],cl1:[0,129],cl2:129,cl:[0,5,12,16,59,100,105,110,111,117,121,125,127,180],clang:[105,110,111,127,128,129],classdef:[175,176,177,178,179,180,182,183,184,186],clc:181,clear:[2,103,105,107,111,113,117,119,121,131,181],clock:130,clockwis:[17,83,130],clone:191,close:[12,108],closefil:[108,120],closest:[0,3,4,5,6,7,12,15,16,111,153,154,178,179],closest_point1:109,closest_point:[0,114,115,150,151,152,153,154,156,157,158,178,182],closest_point_by_sampl:[7,109,119,153,154,178,179],closest_point_in_rang:[154,179],closest_point_in_range_iso:[12,111,121],closest_point_in_range_sa:[12,121],closest_point_in_s_rang:[154,179],closest_point_in_s_range_iso:[12,111,121],closest_point_in_s_range_sa:[12,121],closest_point_intern:[105,107,111,117,119,121],closest_point_iso:[3,4,5,6,7,12,15,16,104,105,106,107,109,111,114,115,116,117,118,119,121,124,125,130,131],closest_point_qc1:109,closest_point_qc2:109,closest_point_qc:109,closest_point_sa:[3,4,5,6,7,12,15,16,114,115],closest_point_standard2:109,closest_point_standard3:109,closest_point_standard:109,closest_seg:[12,111,121,154,179],closestpoint:[0,150,151,152,153,154,156,157,158,178,182],closestpoint_iso:[114,116,117,118,119,121,124,125],closestpoint_sa:114,closestpointbysampl:[119,153,154,178,179],closestpointinrang:[154,179],closestpointinrange_iso:121,closestpointinrange_sa:121,closestpointinsrang:[154,179],closestpointinsrange_iso:121,closestpointinsrange_sa:121,closestseg:[121,154,179],closure_check:[12,121],closure_gap_i:[12,121],closure_gap_ti:[12,121],closure_gap_tx:[12,121],closure_gap_x:[12,121],clot:180,clothid:109,clothioid:12,clothoid:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,24,25,26,27,28,30,31,32,33,49,50,51,52,53,54,55,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,105,106,108,109,110,111,113,114,115,116,117,118,120,121,122,123,124,125,126,127,128,129,130,131,132,133,134,135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,167,168,169,170,171,172,173,174,175,176,177,178,179,180,181,182,183,184,185,186,187,188,189,190,192],clothoid_list:[128,148],clothoidasyplot:[8,23,34,55,112,133,141,191],clothoidcurv:[3,6,8,9,10,11,12,15,16,29,41,102,107,108,109,110,111,118,119,120,121,124,125,129,131,133,140,154,156,158,173,179,180,184,187,188,189,191],clothoidcurveclass:[18,133,160,187],clothoidcurvemexwrapp:[178,181],clothoiddata:[109,119,122,127],clothoiddist:[34,55,133,141,181],clothoidg2:[34,55,62,133,141,181],clothoidlib:108,clothoidlist:[3,9,10,11,13,16,23,34,37,55,102,107,112,117,119,125,129,131,133,140,141,156,158,173,180,181,184,187,188,189,191],clothoidlistclass:[18,133,160,187],clothoidlistmexwrapp:[179,181],clothoidoffset:108,clothoidpoint:108,clothoids_back_compat:[114,116,117,118,119,121,124,125],clothoids_dot_hh:[34,112,133,140],clothoidsfil:[55,133],clothoidsplineg2:[32,43,102,110,121,133,140,173,187,188,189,191],clothoidsplineg2class:[18,133,160,187],clothoidsplineg2mexwrapp:[180,181],clotoidi:110,clousur:12,cmake:191,cmath:[28,29,34,49,106,107,112,127],cmd:181,cmdcomp:108,cmdopen:108,co:[6,7,61,65,66,68,72,84,87,90,91,96,98,104,106,107,109,110,116,118,122,123,124,127,128,130,132,175,178],code:[175,176,177,178,179,182,183,184,186,191],coef:177,coeff:110,colinear:130,collect:[2,16,74,89,95],collid:[1,2,150,151,152,153,154,156,157,158,182],collinear:130,collis:[1,2,3,4,5,6,7,12,15,16,51,102,103,105,106,107,111,113,114,116,117,118,119,121,124,125,129,130,131,133,140,150,151,152,153,154,156,157,158,182],collision_fun:[2,113],collision_iso:[3,4,5,6,7,12,15,16,51,102,105,106,107,111,114,116,117,118,119,121,124,125,129,130,133,140],collision_list:[125,131],collision_sa:[3,4,5,6,7,12,15,16,36,102,114,133,140],color:[0,150,151,152,153,154,156,157,158,159,175,176,177,178,179,182,183,184,186],com:[0,98,127,191],comand:0,combin:[9,10],command:0,compar:7,compat:[114,116,117,118,119,121,124,125],compil:[0,112,129,181,191],compileclothoidslib:[0,185,191],compilefil:[108,120],compileoctav:[173,187,189],compiut:[150,151,152,153,154,156,157,158,182],complex:2,complexroot:128,compon:[3,4,5,6,7,12,15,16],compos:[9,10,11,12,150,155,175,180],comput:[0,2,3,4,5,6,7,11,12,13,15,16,61,65,66,79,94,97,98,102,107,110,116,122,127,128,132,150,151,152,153,154,155,156,157,158,176,178,180,182,191,192],compute_deriv:[122,127],comunqu:110,con:[155,180],condit:[155,180,191],connect:[0,5,12],consecut:[97,151,155,176,180],consecutivi:111,consequenti:191,consid:109,consist:[128,154,179],consol:[150,152,153,156,157,158,182,191],const_iter:[103,105,107,111,113,131],constant:0,constraint:[13,110,121,180],constrainttoler:180,construct:[1,2,4,5,6,7,9,10,11,15,97,155,180],constructor:[104,105,106,107,114,127,128,129,130,131,175],constuctor:191,contain:[0,5,12,132,150,151,152,153,154,156,157,158,182,184],content:2,continu:[0,12,111,128,155,180,191,192],contract:191,contributor:191,controllar:127,convenct:[154,179],converg:[107,109,110,111,127],convers:[105,110,111],convert:[104,105,106,107,130,131],coodin:[0,3,4,5,6,7,12,15,16],cooordin:7,coordin:[0,1,2,3,4,5,6,7,11,12,15,16,71,72,75,81,97,150,151,152,153,154,156,157,158,159,174,175,176,177,178,179,182,183,184,185,186],copi:[1,4,5,6,7,12,15,16,105,107,110,111,116,117,118,119,121,124,125,131,150,151,152,153,154,156,157,158,182],copia:111,coplanar:132,copy_n:110,copyright:[103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,191],corrdin:[153,178],correspond:182,cosal:106,cosc:[50,102,123,127,128,133,140],cosc_d:[50,102,123,128,133,140],cosc_dd:[50,102,123,128,133,140],cosc_ddd:[50,102,123,128,133,140],cosin:[65,66,127],cosom:106,costheta0:[6,118],costruisco:[106,110],cosu:127,counter:83,counterclock:130,counterclockwis:[17,83,130],cout:[108,112,131],cover:[1,3,4,5,7,12,15,16,150,151,152,153,154,156,157,158,182],cr:110,crea:111,creat:[2,150,151,152,153,154,157,158,159,175,176,177,178,179,183,184,186],crescent:109,cs:109,csf:109,ct:127,cu:180,cubic:[127,181],cubicsolv:127,currbox:103,curv:[0,2,3,4,5,6,7,11,12,15,16,17,69,74,80,89,92,95,97,109,110,127,150,151,152,153,154,156,157,158,175,177,178,179,182,183,184],curvatir:7,curvatur:[0,3,4,5,6,7,9,10,11,12,15,16,72,76,90,91,104,111,114,116,118,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,182,191,192],curvatureminmax:[7,11,107,110,119,121],curvaturetotalvari:[7,11,107,119,121],curvebas:[150,151,152,153,154,157,158,173,175,176,177,178,179,183,184,187,188,189],curvebaseclass:[160,187],curvetyp:[3,4,5,6,7,12,15,16,18,36,102,114,129,133,140],curvetype_nam:[50,102,104,105,106,107,114,128,129,130,131,133,140],curviliear:[153,178],curvilinar:[151,176],curvilinear:[0,3,4,5,6,7,11,12,15,16,150,151,152,153,154,156,157,158,175,176,178,179,182,183,184],cut:[0,3,4,5,6,7,12,15,16,150,151,152,153,154,156,157,158,182],cutpo:103,cx:[0,3,4,5,6,7,11,12,15,16,17,105,106,109,111,114,116,117,118,119,121,122,123,124,125,126,127,130,132,150,151,152,153,154,156,157,158,159,182,186],cy:[0,3,4,5,6,7,11,12,15,16,17,105,106,109,111,114,116,117,118,119,121,122,123,124,125,126,127,130,132,150,151,152,153,154,156,157,158,159,182,186],cycl:108,cyclic:[155,180],cz:127,d0:[109,110],d1:[109,110,132],d2:132,d3:132,d:[0,7,56,60,64,67,68,70,85,87,96,98,104,106,109,110,127,128,155,180],da:[109,110],damag:191,dangl:128,data:[3,4,5,6,7,9,10,11,12,15,16,110,111,121,150,151,154,175,176,179,191],date:[98,127],dati:110,db:109,dc0:127,dc1:127,dc2:127,dc:127,dd:110,ddf:[104,109],deactiv:[150,151,152,153,154,156,157,158,182],debug:[155,180],decemb:132,decrescent:109,defin:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,107,112,127,132,134,135,136,137,138,139,141,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174,176,179],definit:[141,189],definiton:12,degener:[5,6,17,124,152,177],degli:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],degre:[117,118,119,121,124,125],delet:[103,114,180,181,182,186],dell:[103,112,113,115],delta:[104,127],delta_theta:[4,6,116,118],deltak:[110,121],deltakappa:[12,111,121,154,179],deltatheta:[6,7,11,12,107,110,111,118,119,121,122,154,179],denterm:127,depart:185,deriv:[0,4,5,6,7,11,12,15,16,61,133,140,150,151,152,153,154,155,157,158,178,179,180,182,187,188],derivative_test:180,derivative_test_perturb:180,derivative_test_tol:180,derivatuv:[150,151,152,153,154,156,157,158,182],derivatv:[153,178],describ:[0,7,11,132,153,155,178,180],descript:[0,133,140],descrit:0,desid:11,design:[0,4,191,192],destroi:[2,159,182,186],destruct:182,destructor:129,det:[107,127,128,130],detail:[130,133,140],detect:[1,3,4,5,6,7,12,15,16,119],determin:[154,179],dev:108,devil:132,devit:[3,4,5,6,12,15,16],df:[104,109,110,127],dg:127,di:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],diagnost:[105,110,111,127,128,129],diff2pi:[110,121],diff:180,differ:[11,12,180],difference_typ:131,dii:[0,190,191],dim:[155,180],dimension:[2,132],dipartimento:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],direct:[0,72,76,90,150,151,152,153,154,156,157,158,182,183,191],directori:[0,35,36,37,38,39,40,41,42,43,44,45,46,47,48,55,133],disabl:94,disc:128,disclaim:191,disp:181,displai:180,displayax:[8,108,120],displaystyl:[7,155,180],dist:180,distanc:[1,2,3,4,5,6,7,12,15,16,76,90,97,103,105,107,109,111,113,114,115,132,150,151,152,153,154,156,157,158,176,178,179,180,182,191,192],distance_iso:[3,4,5,6,7,12,15,16,114,115],distance_sa:[3,4,5,6,7,12,15,16,114,115],distancebysampl:[7,119,153,154,178,179],distancemax:[159,186],distancemin:[159,186],distanza:[109,130],distinct:[155,180],distmax:[17,126,132],distmin:[17,105,107,111,126,132],distribut:191,distseg:132,diverg:[11,109],dk0:110,dk0_sm:110,dk0_thm:110,dk1:110,dk1_sm:110,dk1_thm:110,dk2:[107,110],dk3:[107,110],dk4:107,dk5:107,dk6:107,dk:[0,7,107,109,110,111,119,122,127,153,154,178,179],dk_d:[7,110,119,122,127],dk_l:110,dk_r:110,dkappa:[7,12,108,110,111,119,121,153,154,178,179],dkl:110,dkl_d:110,dkm:110,dkm_sm:110,dkm_thm:110,dkr:110,dkr_d:110,dkur:110,dm:109,dmax:[11,110,121],dmin:103,document:[0,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,140,175,176,177,178,179,180,181,182,183,184,185,186,187,188,191],doesn:130,doi:[0,153,178,191,192],domega:128,done:[129,181],dot:[8,108,120],doubl:[112,132,134,182],download:[0,191],doxygen_should_skip_thi:[105,107,109,110,111,117,119,121,122,125,127,128,129,130,131,132],dp:109,draw:108,drawclothoid:[8,108,120],drawlin:[8,108,120],drawrect:[8,108,120],ds0:127,ds1:127,ds2:127,ds:[7,106,107,109,119,127,128,151,153,154,176,178,179],dsm2:110,dsm:110,dsmsm:110,dss:107,dst1:[104,107,111,131],dst:[3,4,5,6,7,12,15,16,103,104,105,106,107,109,111,114,116,117,118,119,121,123,124,125,130,131,150,151,152,153,154,156,157,158,178,179,182,186],dt2:127,dt:[61,65,66,127],dth0:104,dth1:104,dth:[104,110,127],dtheta:[106,109,122,127,179],dx1:[128,132],dx2:128,dx:[103,104,106,107,109,110,127,128,130,132],dxa:[104,106],dxb:[104,106],dxc:106,dy1:[128,132],dy2:128,dy:[103,104,106,107,109,110,127,128,130,132],dya:[104,106],dyb:[104,106],dyc:106,dylib:191,e2:127,e:[0,3,4,5,6,7,11,12,15,16,83,103,112,113,115,127,153,155,178,180,190,191,192],each:[3,4,5,6,7,12,15,16,74,89,95,97,132],easi:0,ebertolazzi:[0,191],effici:2,elaps:180,element:111,ell:[109,127,179],els:[103,104,105,106,107,108,109,110,111,112,113,114,123,124,127,128,129,130,131,132,175,176,177,178,179,180,182,184],elseif:[176,179,181],email:[0,98,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],empti:[0,2,4,5,6,7,9,10,12,103,105,108,111,113,131,152,157,177,183],enabl:79,end:[7,9,10,11,103,104,105,107,111,113,125,131,155,175,176,177,178,179,180,181,182,183,184,185,186],endif:[103,105,106,107,109,110,111,112,113,114,115,116,117,118,119,121,122,123,124,125,127,128,129,130,131,132],endl:108,endpoint:[9,10,11],endrst:[175,176,177,178,179,180,182,183,184,186],energi:4,engin:185,enrico:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,185,190,191],entrambi:109,enumer:[13,24],eof:[105,106,107,109,110,111,127,128,129,130,131],ep:127,eps10:127,eps1:[106,107],eps2:[106,107],epsi:[12,104,109,111,121,123,128,130],epsilon:[104,128,146],equat:[71,75],eras:[103,105,111,131],err1:111,err2:111,err:131,error:[111,150,151,152,153,154,156,157,158,175,176,179,180,182,185],espilon:146,estim:[12,107,154,179],estremi:109,eval:[0,3,4,5,6,7,11,12,15,16,104,105,106,107,109,110,111,114,115,116,117,118,119,121,122,124,125,127,128,130,150,151,152,153,154,156,157,158,177,178,181,182],eval_d:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_dae_dd:122,eval_dd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_ddd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128,150,151,152,153,154,156,157,158,182],eval_iso:[3,4,5,6,7,11,12,15,16,104,105,106,107,110,111,114,115,116,117,119,121,122,124,125,127,128,130,131],eval_iso_d:[3,4,5,6,7,11,12,15,16,104,105,107,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_iso_dd:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_iso_ddd:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,115,116,117,119,121,122,124,125,127,128],eval_sa:[3,4,5,6,7,12,15,16,114,115,122],eval_sae_d:[3,4,5,6,7,12,15,16,114,115,122],eval_sae_dd:[3,4,5,6,7,12,15,16,114,115],eval_sae_ddd:[3,4,5,6,7,12,15,16,114,115,122],evala:[110,121],evalf:[110,121],evalfj:[110,121],evalg:[110,121],evalu:[3,4,5,6,7,12,15,16,104,105,109,110,111,114,115,116,117,118,119,121,122,127,150,151,152,153,154,156,157,158,175,176,178,179,182,191],evaluate_iso:[3,4,5,6,7,12,15,16,105,111,114,115,117,121],evaluate_sa:[3,4,5,6,7,12,15,16,114,115],evalxyalarg:127,evalxyasmal:127,evalxyazero:127,even:[154,158,179,184,191],event:191,everi:[151,154,176,179],exampl:[0,98],exchang:2,exemplari:191,exist:[4,6,7,9,10,12,180],exitflag:180,expans:127,expect:[176,179],explicit:[4,5,6,7,12,15,16,116,117,118,119,121,124,125],export_rubi:[12,111,121,154,179],export_t:[12,111,121,154,179],express:191,extend:0,extern:[114,123],extrema:[155,180],f0:110,f1:110,f2:110,f3:110,f4:110,f5:110,f6:110,f7:110,f:[13,104,108,109,110,121,127,180],f_j:110,facealpha:[150,151,152,153,154,156,157,158,182],fact:[0,14,127],factor:[0,3,4,5,6,7,12,14,15,16,110,123,128,150,151,152,153,154,156,157,158,159,177,182,186],faculti:[0,190,191],fail:[9,10,11,12,14,104,108,111,154,175,179,180],fair:4,fall:130,fals:[2,4,12,14,104,105,106,107,109,110,111,113,117,119,121,122,123,125,127,128,129,130,131,132,180],fast:132,fclose:[176,179],fd:[127,176,179],feval:182,ff:[106,110],field:[154,179],file:[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,19,20,21,22,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,134,135,136,137,138,139,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174,191,192],fileexchag:83,filenam:[8,108,120,151,154,176,179],fill:[108,110,182,186],fill_n:110,find:[0,3,4,5,6,7,12,15,16,104,108,130,151,153,154,176,178,179],find_coord1:[151,154,176,179],find_coord:[150,151,152,153,154,156,157,158,175,182],findat:[5,12,16,105,111,117,121,125,131],findst1:[5,12,105,111,117,121,176,179],findst:[105,111,114,175,182],findst_iso:[3,4,5,6,7,12,15,16,105,111,114],findst_sa:[3,4,5,6,7,12,15,16,114],finit:180,finitedifferencetyp:180,first:[0,3,4,5,6,7,9,10,11,12,15,16,69,71,73,74,75,80,83,89,91,92,95,103,104,105,107,111,113,127,131,150,151,152,153,154,155,156,157,158,174,175,176,179,180,182,184,185],fit:[0,4,11,12,192],fix:[9,10,11,153,178],flag:12,flat:83,flex:[107,109,127],floor:[106,107,127],flush:112,fmincon:180,fmod:[111,128],fmt1:[0,150,151,154,158,175,176,179,184],fmt2:[0,150,151,154,158,175,176,179,184],fmt:[103,106,107,108,110,111,112,113,127,130,131,132,152,177],fn:127,fname:[154,179],follow:[0,7,12,130,191],fontsiz:108,foo:113,fopen:[176,179],forc:107,forg:181,forget:191,form:[0,109,151,154,176,179,191],format:[0,107,111,112,150,151,152,154,158,175,176,177,179,184],formula:130,forward:[7,110],found:[3,4,5,6,7,12,14,15,16,104,111,124],four:130,fp_infinit:[110,128],fp_nan:[110,128],fpclassifi:[110,128,129],fprintf:[176,179,181],frac:[56,57,60,61,64,65,66,67,68,70,84,85,86,87,91,96],frame:110,free:[0,190,191],frego:[0,7,11,120,153,155,178,180,190,191,192],fresnel:[7,23,34,55,61,65,66,98,102,110,112,133,141,181,191],fresnelc:[49,102,109,122,127,133,140,181,191],friend:[1,4,5,6,7,11,12,13,15,16,17,113,116,117,118,119,121,124,125,126],from:[0,4,5,6,7,11,12,15,16,72,76,83,90,98,104,105,106,107,108,110,127,130,131,132,150,151,152,153,154,156,157,158,176,177,178,179,182,183],front:[103,105,111,117,121,125,131],fsolv:180,fstream:[34,112],full:[128,191],fun:[105,107,111,131],func:180,g0:110,g1:[0,5,6,7,12,110,150,153,175,178,192],g2:[0,5,9,10,11,12,13,110,121,154,155,179,180,192],g2lib:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,23,24,25,26,27,28,29,30,31,32,33,34,35,36,38,39,40,41,42,43,44,46,47,48,49,51,52,53,54,55,103,104,105,106,107,108,109,110,111,112,113,114,116,117,118,119,120,121,122,124,125,126,127,129,130,131,132,133,140,141,181,191],g2lib_biarc:[24,104,105,106,107,111,114,116,129,130,131],g2lib_biarc_list:[24,104,105,106,107,111,114,117,129,130,131],g2lib_circl:[24,104,105,106,107,111,114,118,129,130,131],g2lib_clothoid:[24,104,105,106,107,111,114,119,129,130,131],g2lib_clothoid_list:[24,104,105,106,107,111,114,121,129,130,131],g2lib_compatibility_mod:[114,115,119,123,128],g2lib_debug:112,g2lib_debug_messag:[34,105,107,109,111,112,129,133,140],g2lib_do_not_use_cxx11:112,g2lib_intersect:[34,55,69,74,92,95,133,141,181],g2lib_lin:[24,104,105,106,107,111,114,124,129,130,131],g2lib_polylin:[24,104,105,106,107,111,114,125,129,130,131],g2lib_use_cxx11:[34,103,105,107,111,112,113,129,131,133,140],g2libclass:[18,133],g2problem3arc:180,g2solve2arc:[43,102,110,121,133,140],g2solve2arcclass:[18,133],g2solve3arc:[43,102,110,111,121,133,140],g2solve3arcclass:[18,133],g2solveclc:[43,102,110,111,121,133,140],g2solveclcclass:[18,133],g:[7,9,10,11,12,13,97,109,110,116,121,127,155,180],g_1:[110,121],g_2:[110,121],ga:104,gamma:[109,127],gb:104,gcc:[105,110,111,127],gd:127,geeksforgeek:130,gener:[0,6,7,107,108,130],generalizedfresnelc:[49,102,110,122,127,133,140],geom2d:83,geometr:132,geomprimit:113,get:[2,5,6,7,11,12,105,111,117,121,131,150,151,152,153,154,156,157,158,175,176,178,179,182],get_circl:[0,150,175],get_id:[105,111,117,121,125,131],get_par:0,getat:[5,12,105,111,117,121],getcircl:[150,175],getdata:[150,175,176],getdeltakappa:[12,111,121],getdeltatheta:[12,111,121],getlin:111,getpar:[0,153,178,179],getrealroot:127,gets0:[9,10,11,121],gets1:[9,10,11,121],getseg:[16,125,131],getsk:[12,111,121],getsm:[10,11,121],getstk:[5,12,105,111,117,121,154,179],getxi:[5,12,105,111,117,121,151,154,176,179],gfun:[104,116],git:191,github:[0,191],given:[0,2,3,4,5,6,7,12,15,16,81,97,130,151,152,154,158,176,177,179,184],glib2_tol_angl:[34,105,107,109,111,112,133,140],gmail:[98,127],gn:127,go:[107,110],good:[111,191],gradient:[13,110,121,180],graph:108,graphic:132,guess:[11,13,81,97,109,110,121,127,128,154,155,179,180],guid:[98,127],guigu:132,guiguedevillers03:132,guozhao:4,h:104,ha:12,hallei:104,handl:[150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,183,184,186],have:[127,191],header:191,hemit:4,hermit:[0,6,7,11,191,192],hessian_approxim:180,hessian_const:180,hh:[19,20,21,22,25,26,27,28,29,30,31,32,33,35,36,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,102,103,104,105,106,107,108,109,110,111,127,128,129,130,131,132,134,137,138,139,141,191],hhfile:[55,133],hidden:[180,182,186],hierarchi:191,hold:[175,176,179,184],holder:191,homepag:[0,190,191],howev:191,http:[0,130,132,153,178,190,191,192],hxx:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,23,24,34,63,72,79,80,89,93,94,102,112,135,136,141],hxxfile:[55,133],hypot:[103,104,105,106,107,109,110,111,123,127,128,130,131,132],i1:[105,107,111],i2:[105,107,111],i:[0,3,4,5,6,7,12,13,15,16,83,106,107,111,121,123,127,128,131,155,180,181],i_begin:[105,111,131],i_end:[105,111,131],ib:111,ibegin:[5,12,105,111,117,121,154,179],ic0:131,ic1:131,ic:[105,107,111,131],icas:[103,113],icod:[114,186],icurv:[3,4,5,6,7,12,15,16,17,105,106,107,111,114,116,117,118,119,121,124,125,126,131,154,179],icurve1:111,icurve_begin:[12,111,121],icurve_end:[12,111,121],id:[1,6,113,150,151,152,153,154,156,157,158,182],identifi:1,idx1:180,idx2:180,idx:[5,12,105,111,117,121,125,131,151,176,179,184],ie:111,iend:[5,12,105,111,117,121,154,179],ifdef:[103,105,106,107,109,110,111,112,113,114,115,116,117,118,119,121,123,124,125,127,128,129,130,131,132],iff:[153,178],iflag:[150,151,152,153,154,156,157,158,179,182],ifndef:[105,107,109,110,111,112,117,119,121,122,125,127,128,129,130,131,132],ifun:[2,113],ignor:[105,110,111,127,128,129],ignoredarg:[150,151,152,153,154,157,158,159],ii:110,ij:128,il:[107,111,125],ilist00:104,ilist01:104,ilist10:104,ilist11:104,ilist1:105,ilist:[3,4,5,6,7,12,15,16,74,89,95,104,105,106,107,111,114,116,117,118,119,121,124,125,129,131],illustr:[98,127],imag:180,implement:[0,2,132],impli:191,improv:107,inc:181,incident:191,includ:[103,104,105,106,107,108,109,110,111,112,116,117,118,119,121,124,127,128,129,130,131,132,141,191],index:[2,3,4,5,7,12,15,16,105,111,158,180,184],indirect:191,industri:185,industrial:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],infin:[0,7,103,105,107,111,153,178],infinit:111,info:[0,3,4,5,6,7,12,13,15,16,17,114,116,117,118,119,121,122,124,125,126,127,150,151,152,153,154,156,157,158,159,176,179,180,182,186],inform:[1,132,150,152,153,156,157,158,182],informazion:[103,112,113,115],infti:7,ingegneria:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],inherit:[133,140,187,188],init:[5,12,16,105,111,117,121,125,131],init_promote_map:129,initfil:[108,120],initi:[0,2,3,4,5,6,7,11,12,15,16,76,91,111,131,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,182,183],inizial:127,inlin:[1,2,3,4,5,6,7,9,10,11,12,13,14,15,16,17,63,72,79,80,89,93,94,110,113,114,123,128,132],input:[61,111,127,150,151,152,153,157,159,174,175,176,177,178,183,185,186],insert:103,insid:[17,72,73,107,109,127],instal:181,instanc:[150,151,152,153,154,157,158,159,175,176,177,178,179,180,182,183,184,186],instead:[3,4,5,6,7,12,15,16,74,89,95],int_0:[7,61,65,66,98,155,180],int_typ:[1,3,4,5,6,7,12,13,15,16,17,34,49,71,73,75,81,83,91,97,102,103,104,105,106,107,109,110,111,112,113,114,116,117,118,119,121,122,123,124,125,126,127,128,130,131,132,133,140],intc:[65,66,122,127],integr:[7,11,61,65,66,98,122,127,155,180],integralcurvature2:[7,11,107,119,121],integraljerk2:[7,11,107,119,121],integralsnap2:[7,11,107,119,121],interb:[150,151,152,153,154,156,157,158,182],interfac:191,interior:180,intermedi:6,intern:[154,179],interpol:[0,11,121,150,153,155,175,178,180,191,192],interrupt:191,intersect:[2,3,4,5,6,7,12,15,16,51,69,74,80,89,91,92,102,103,104,105,106,107,111,113,114,116,117,118,119,121,124,125,129,130,131,132,133,140,150,151,152,153,154,156,157,158,174,178,182,185,191],intersect_iso:[3,4,5,6,7,12,15,16,51,102,104,105,106,107,111,114,116,117,118,119,121,124,125,129,130,133,140],intersect_sa:[3,4,5,6,7,12,15,16,36,102,114,133,140],intersect_with_aabbtre:[50,102,105,107,111,123,128,133,140],intersectcirclecircl:[50,102,106,123,128,133,140],intersection_test_edg:132,intersection_test_vertex:132,intersectionlist:[2,103,113,131],intersectlist:[3,4,5,6,7,12,15,16,36,74,89,95,102,104,105,106,107,111,114,116,117,118,119,121,124,125,129,131,133,140],intial:[0,3,4,5,6,7,12,15,16,157,183],invari:110,invcoscsinc:128,invers:14,inversa:110,io:181,iomanip:[34,112],iostream:[34,112],ip:[105,107,111,131],ipair:[36,102,104,105,106,107,111,114,124,131,133,136,140],ipo:[1,105,107,111,113,117,119,121,125,131,151,176,179],ipopt:[155,180],ipopt_check:[155,180],ipopt_check_gradi:180,ipos0:131,ipos1:[105,107,111,131],ipos2:[105,107,111],is0:131,is1:131,is_clos:[12,121,154,179],is_open:108,is_typ:[150,151,152,153,154,157,158,159,175,176,177,178,179,182,183,184,186],iscounterclockwis:[17,50,102,123,126,128,133,140],iseg:[105,111,179],isfinit:107,isinsid:[17,126,132,159,186],iso:[3,4,5,6,7,12,15,16,150,151,152,153,154,156,157,158,178,179,182],isoctav:180,ispc:181,ispointintriangl:[50,102,123,126,128,133,140],isregular:111,iss1:111,iss2:111,istream_typ:[12,34,102,111,112,121,133,140],istringstream:111,isunix:181,iszero:[105,107,111,125,128],itar:107,iter:[7,9,10,11,34,103,104,105,106,107,109,110,111,112,125,127,128,131,180],iter_opt:180,its:[61,155,180],j:[0,7,13,98,110,121,123,127,128,180,191,192],jac:180,jac_d_const:180,jaceq:180,jacobian:[13,110,121,180],jacobian_approxim:180,jacobian_nnz:[13,110,121],jacobian_pattern:[13,110,121,180],jacobian_pattern_matlab:[13,110,121],jacobiano:110,jacobianstructur:180,jerk:[11,155,180],jgt:132,jj:[110,127],john:[0,191,192],join:[1,103,113],journal:[0,11,132,153,178,191,192],jpg:180,juction:4,juli:132,junction:[150,175],k0:[0,104,110,121,127,152,153,177,178,179],k1:[104,110,121],k2:[106,107,110],k3:[106,107,110],k4:[107,110],k5:107,k6:107,k:[0,3,4,5,6,7,12,15,16,65,66,72,76,90,104,105,106,107,110,111,114,116,117,118,119,121,123,127,128,131,151,154,155,176,179,180,181,182,184],k_d:[7,110,119,122,127],ka2:128,ka:[110,128],kappa0:[0,4,7,9,10,11,12,107,109,110,111,116,119,121,122,127,150,151,152,153,154,155,156,157,158,175,178,179,180,182],kappa1:[0,4,9,10,11,12,91,107,109,110,111,116,121,123,128,150,151,152,153,154,156,157,158,175,178,179,182],kappa2:[91,123,128],kappa:[0,3,4,5,6,7,9,10,11,12,15,16,105,107,109,110,111,114,117,118,119,121,122,127,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,182],kappa_0:[7,9,10,11],kappa_1:[9,10,11,91],kappa_2:91,kappa_begin:[0,3,4,5,6,7,11,12,15,16,105,107,108,110,111,114,116,118,119,121,131,150,151,152,153,154,156,157,158,177,178,182],kappa_d:[0,3,4,5,6,7,12,15,16,114,122,150,151,152,153,154,156,157,158,178,182],kappa_dd:[3,4,5,6,7,12,15,16,114,122,150,151,152,153,154,156,157,158,182],kappa_ddd:122,kappa_end:[0,3,4,5,6,7,11,12,15,16,105,107,110,111,114,116,118,119,121,131,150,151,152,153,154,156,157,158,178,182],kappa_fun:127,kappabegin:[0,114,116,118,119,150,151,152,153,154,156,157,158,182],kappaend:[0,114,116,118,119,150,151,152,153,154,156,157,158,180,182],kappan:12,kb2:128,kb:[110,128],kk:[106,107,110],kl:[12,107],kl_d:110,km:[107,110],km_sm:110,km_thm:110,kmax1:110,kmax:[7,11,107,110,119,121,127],kmin1:110,kmin:[7,11,107,110,119,121,127],knot:[6,15,106,118,124,130],known:[152,153,177,178],kp:107,kr:107,kr_d:110,kur:110,l0:[0,104,110,131],l1:[0,104,110,129,130,131,132],l2:[0,110,128,129,130,132],l3:[110,132],l:[0,5,6,7,9,10,11,12,15,16,90,104,105,106,107,109,110,111,117,118,119,121,122,123,12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53,157,178,183],retain:191,revers:[0,3,4,5,6,7,11,12,15,16,104,105,106,109,111,114,116,117,118,119,121,122,124,125,127,130,131,150,151,152,153,154,156,157,158,182],rh:[1,14,113],rho:109,rhoi:109,rhox:109,ricostruzion:110,riferimento:110,right:[3,4,5,6,7,12,15,16,56,60,61,65,66,67,83,85,87,96,109,191],risolvo:107,rla:127,rlb:127,rlc:127,rld:127,robust:[0,132,191,192],root:107,rotat:[0,3,4,5,6,7,11,12,15,16,17,83,97,105,106,111,114,116,117,118,119,121,122,124,125,126,127,130,132,150,151,152,153,154,156,157,158,159,182,186],rotinv:110,rough:11,round:[121,127,128],routin:[12,102,132],rovescia:110,rozza:[107,127],rq_x:130,rq_y:130,rst:[175,176,177,178,179,180,182,183,184,186],rubi:0,run:[0,185,191],s0:[6,7,11,17,72,76,90,107,109,110,111,118,119,121,123,126,128,131,152,153,154,176,177,178,179],s12:128,s1:[0,3,4,5,6,7,11,12,15,16,17,74,89,91,95,104,106,107,109,110,111,119,121,123,124,126,128,130,131,150,151,152,153,154,156,157,158,178,179,182],s1_max:107,s1_min:107,s2:[3,4,5,6,7,12,15,16,74,89,91,95,106,123,124,128,130,131,150,151,152,153,154,156,157,158,178,182],s2_max:107,s2_min:107,s:[0,3,4,5,6,7,9,10,11,12,15,16,61,83,91,98,104,105,106,107,109,110,111,114,116,117,118,119,121,122,124,125,127,128,130,131,132,150,151,152,153,154,155,156,157,158,175,176,177,178,179,180,181,182,183,184],s_0:[6,7,155,180],s_1:[155,180],s_:[155,180],s_begin:[3,4,5,6,7,12,15,16,104,105,106,107,111,114,116,117,118,119,121,124,125,131,154,179],s_end:[3,4,5,6,7,12,15,16,104,105,106,107,111,114,116,117,118,119,121,124,125,131,154,179],s_k:[155,180],s_n:[155,180],s_off:[15,124,130],s_origin:[122,127],s_to_index:[154,158,179,184],sa1:128,sa2:128,sae:[3,4,5,6,7,12,15,16,150,151,152,153,154,156,157,158,178,179,182],sampl:[7,150,151,152,153,154,175,176,177,178,179],save:[10,11,12,110,111,121,151,154,176,179],save_clothoid:[154,179],save_sampl:[154,179],save_seg:111,saveclothoid:[154,179],savesampl:[154,179],sb:127,sc1:106,sc2:106,sc:[3,4,5,6,7,12,15,16,17,107,114,117,121,124,125,126,150,151,152,153,154,156,157,158,159,177,182,186],scalato:127,scale:[0,3,4,5,6,7,12,15,16,17,104,105,106,107,110,111,114,116,117,118,119,121,124,125,126,127,131,150,151,152,153,154,156,157,158,159,177,182,186],scienc:[0,155,180,190,191,192],scientif:[0,7,153,178,191,192],scienza:[103,112,113,115],scl:104,script:185,sdk:127,se:[107,127],search:[2,12,105,111,117,121,125,131],searchinterv:[105,111,131],second:[0,3,4,5,6,7,9,10,11,12,15,16,69,71,73,74,75,80,83,89,91,92,95,103,104,105,107,111,113,131,150,151,152,153,154,156,157,158,174,175,176,179,182,184,185],secondari:131,sedgewick:83,see:[0,130],seek:2,segment:[0,5,6,7,10,11,12,15,16,83,111,130,131,132,150,151,152,153,154,155,156,157,158,176,179,180,182,183,184],segment_length:[5,12,105,111,117,121],segment_length_iso:[5,12,105,111,117,121],segment_length_sa:[12,121],segmenti:111,segmento:[111,131],select:2,self:[150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,183,184,186],separ:0,seri:[12,127],servic:191,set:[4,12,107,151,152,154,176,177,179,180],setaccess:[180,182,186],setmaxit:[9,10,11,110,121],setp1:[13,121],setp2:[13,121],setp3:[13,121],setp4:[13,121],setp5:[13,121],setp6:[13,121],setp7:[13,121],setp8:[13,121],setp9:[13,121],settoler:[9,10,11,110,121],setup:[0,110,155,180],setw:113,sever:132,sfactor:[105,111,131],sflex:[107,109,127],sg:[110,127],shall:191,shared_ptr:[103,105,107,111,112,113,131],showax:[8,108,120],siam:[0,7,153,178,191,192],sign:[15,83,105,107,109,111],simpl:7,sin:[6,7,56,57,61,65,66,67,70,72,90,91,98,104,106,107,109,110,116,118,122,123,124,127,128,130,132,175,178],sinc:[50,102,104,106,123,127,128,133,140],sinc_d:[50,102,123,128,133,140],sinc_dd:[50,102,123,128,133,140],sinc_ddd:[50,102,123,128,133,140],sine:[65,66,127],singl:[0,5],singular:[14,123,128],sintheta0:[6,118],sinu:127,sistema:107,sivakanth:[98,127],size:[3,4,5,6,7,12,15,16,103,104,105,106,107,108,111,117,121,125,131,150,151,152,153,154,156,157,158,182],size_t:[103,105,106,107,110,111,117,119,121,125,131],sk:[106,128],skip:111,sl:127,slast:131,sm:[109,110,111,121],sm_guess:[110,121],small:[111,180],smax:[0,150,151,152,153,154,156,157,158,182,183],smin:[0,150,151,152,153,154,156,157,158,182,183],snap:11,so:[3,4,5,6,7,12,15,16,109,116,150,151,152,153,154,156,157,158,182],softwar:191,solo:127,solut:[0,9,10,11,14,71,75,91,104,110,127,128,155,180],soluzion:110,solv:[6,7,9,10,11,12,14,71,75,110,121,123,127,128,155,180],solve2x2:[45,102,110,123,128,133,140],solve2x2class:[18,133],solvelinearquadrat:[50,102,123,128,133,140],solvelinearquadratic2:[50,102,123,128,133,140],solvenlsyscirclecircl:128,solver:[110,155,180],some:[0,150,151,152,153,154,156,157,158,182],someth:[107,110],son:[0,191,192],sono:111,soon:0,sourc:[132,191],sp:109,spars:180,spatial:2,special:[130,191],specifyconstraintgradi:180,specifyobjectivegradi:180,spline:[0,4,5,11,81,155,180,192],split:[6,7,107,109,127],split_at_flex:[109,122,127],spljne:13,sqp:180,sqrt:[109,127,128,129,147,149],sqrtmachepsi:[50,102,123,128,133,140],squar:[11,155,180],sr1:180,src:181,src_mex:[0,181],ss0:[6,16,106,111,118,125,131],ss1:[6,16,105,106,107,111,118,119,121,125,128,131],ss2:[105,106,107,111,119,121,128,131],ss:[104,105,106,107,109,111,125,127,128,176,179],ssf:109,sss0:131,sss1:131,sss:[107,109],st:127,stabl:127,standard:[3,4,5,6,7,12,15,16,109,110,121],start:[0,6,7,72,76,90],stat:180,static_cast:[104,105,106,107,111,130,131],statist:181,std:[3,4,5,6,7,8,12,15,16,103,104,105,106,107,108,109,110,111,112,113,114,116,117,118,119,120,121,124,125,127,128,129,130,131,132,135,136,138,139],step:[7,107,108,150,151,153,154,175,176,178,179],step_found:110,stesso:[111,131],store:[0,2,3,4,5,6,7,12,14,15,16,74,89,95,150,151,152,153,154,156,157,158,182,184],str:[175,176,177,178,179,183,184,186],straight:[0,15,16,152,177],stream:[1,2,3,4,5,6,7,10,11,12,13,15,16,17,58,59,62,63,77,78,82,88,100,101,103,104,105,106,107,110,111,113,114,116,117,118,119,121,124,125,126,130,131,132],streamstream:12,strict:191,string:[8,34,108,111,112,120,151,176],struct:[130,154,179,181],structur:[0,2],studi:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,190,191],studio:[103,106,109,127,130,131],su:[157,183],subclass:[3,156],submdul:191,submodul:[181,191],substitut:191,substr:108,success:[6,153,178],suggest:7,sul:130,sum:[0,127],sumd:127,sumn:127,survatur:[155,180],swap:[105,106,107,111,130,131,132],swap_s_val:[3,4,5,6,7,12,15,16,74,89,95,104,105,106,107,111,114,116,117,118,119,121,124,125,129,131],swap_tre:[2,103,113],system:[14,71,75,108],sz:127,t0:110,t12:128,t1:[104,105,107,110,111,117,119,121,128,131],t2:[105,107,111,117,119,121,128,132],t2d_approximate_collis:[107,119],t2d_collision_iso:[107,119],t2d_collision_list_iso:[105,111,117,121],t3:107,t4:107,t5:107,t6:107,t7:107,t:[3,4,5,6,7,8,9,10,12,15,16,17,61,65,66,82,98,104,105,106,107,108,109,111,114,116,117,118,119,120,121,124,125,126,127,128,130,131,132,150,151,152,153,154,156,157,158,175,176,179,182],t_x:[3,4,5,6,7,11,12,15,16],t_y:[3,4,5,6,7,11,12,15,16],taglia:111,tail:[5,12],take:181,taken:[5,12,151,176],tan:[106,128],tangent:[3,4,5,6,7,12,15,16,72,76,90,155,180],target:[110,132,155,180],targettyp:[13,121],tau:110,tdk:179,tdkappa:111,technolog:[0,190,191],telasula:[98,127],templat:[2,113],term:127,test:[0,2,132],text:[8,108,120,176,179],textrm:[9,10,11],tg0_x:[119,122],tg0_y:[119,122],tg:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,122,124,127],tg_d:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,122,124,127],tg_dd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,122,124,127],tg_ddd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,122,124,127],tg_x:[3,5,12,16,105,111,114,117,119,121,122],tg_x_d:[3,5,12,16,105,111,114,117,119,121,122,127],tg_x_dd:[3,5,12,16,105,111,114,117,119,121,122,127],tg_x_ddd:[3,5,12,16,105,111,114,117,119,121,122,127],tg_y:[3,5,12,16,105,111,114,117,119,121,122],tg_y_d:[3,5,12,16,105,111,114,117,119,121,122,127],tg_y_dd:[3,5,12,16,105,111,114,117,119,121,122,127],tg_y_ddd:[3,5,12,16,105,111,114,117,119,121,122,127],th0:[104,110,121,127,182],th1:[104,110,121,182],th2:127,th:[3,4,5,6,7,12,15,16,104,105,106,107,110,111,114,116,117,118,119,121,127,128,179,182],th_d2:127,th_d:[127,128],th_dd:[127,128],th_ddd:128,tha:104,than:[0,3,4,5,6,7,12,15,16,127],thb:104,the3:11,theori:[132,191],theta0:[0,4,5,6,7,9,10,11,12,13,15,76,104,105,106,107,109,110,111,116,117,118,119,121,122,123,124,127,128,130,150,151,152,153,154,155,157,175,176,177,178,179,180,183],theta1:[0,4,5,7,9,10,11,12,91,104,105,107,109,110,111,116,117,119,121,122,123,127,128,150,151,152,153,154,155,175,176,177,178,179,180],theta2:[91,123,128],theta:[0,3,4,5,6,7,9,10,11,12,13,15,16,72,81,97,104,105,106,107,109,110,111,114,116,117,118,119,121,122,123,124,125,127,128,131,150,151,152,153,154,155,156,157,158,175,176,178,179,180,182,183],theta_0:[4,5,6,7,9,10,11,90],theta_1:[4,5,7,9,10,11,91],theta_2:91,theta_begin0:0,theta_begin1:0,theta_begin:[0,3,4,5,6,7,11,12,15,16,104,105,107,108,110,111,114,115,116,117,118,119,121,125,150,151,152,153,154,156,157,158,175,177,178,182,183],theta_d:[3,4,5,6,7,11,12,15,16,104,105,110,111,114,116,117,118,119,121,122,124,125,127,128,131,150,151,152,153,154,156,157,158,182],theta_dd:[3,4,5,6,7,11,12,15,16,105,110,111,114,116,117,118,119,121,122,124,125,127,128,131,150,151,152,153,154,156,157,158,182],theta_ddd:[3,4,5,6,7,11,12,15,16,105,110,111,114,116,117,118,119,121,122,124,125,128,131,150,151,152,153,154,156,157,158,182],theta_end0:0,theta_end1:0,theta_end:[0,3,4,5,6,7,11,12,15,16,104,105,107,110,111,114,115,116,117,118,119,121,125,150,151,152,153,154,156,157,158,175,177,178,182],theta_guess:[13,110,121,127,180],theta_i:5,theta_max:[13,97,105,110,121,123,127,128,180],theta_middl:[4,104,111,116,150,175],theta_min:[13,97,105,110,121,123,127,128,180],theta_min_max:[6,7,11,106,107,110,118,119,121],theta_total_vari:[6,7,11,107,118,119,121],thetabegin0:0,thetabegin1:0,thetabegin:[0,114,116,117,118,119,121,125,150,151,152,153,154,156,157,158,182],thetac:111,thetaend0:0,thetaend1:0,thetaend:[0,114,116,117,118,119,121,125,150,151,152,153,154,156,157,158,180,182],thetamiddl:[116,150,175],thetaminmax:[11,118,119,121],thetan:[12,13,121],thetatotalvari:[11,118,119,121],thflex:109,thh:107,thhh:107,thi:[7,103,104,105,106,107,111,113,114,116,117,118,119,121,122,124,125,126,127,130,131,132,152,155,177,180,185,191],third:[0,3,4,5,6,7,10,11,12,15,16,71,73,75,83,150,151,152,153,154,156,157,158,179,182],this_thread:[105,111,117,121,125,131],thl:107,thm1:110,thm:[107,110,121],thm_guess:[110,121],thmax1:110,thmax:[6,7,11,106,107,110,118,119,121,127],thmin1:110,thmin:[6,7,11,106,107,110,118,119,121,127],thompson:[98,127],thr:107,three:[93,130,132,150,151,152,153,154,156,157,158,182],thstar:104,tic:180,tick:108,time:[129,181],tirnagl:[3,4,5,7,12,15,16],tkappa0:[111,179],tl:[111,179],tmp0:127,tmp1:127,tmp2:[127,132],tmp:[104,106,109,110,111,121,127,128,131,132],to_nurb:[0,150,152,157,175,177,183],tob:[15,124,130],toc:180,tol:[6,7,9,10,11,16,106,110,111,118,119,121,122,125,127,128,131,154,158,179,180,184],tol_tg:[12,121],tol_xi:[12,121],toler:[7,9,10,11,12,110,111,121,154,158,179,184],tolfun:180,tolx:180,tonurb:[6,15,106,118,124,130],too:[107,111,150,151,152,153,154,156,157,158,180,182],tool:132,toolbox:[0,191],top:[3,4,5,6,7,12,15,16],tort:191,total:[0,7,11,12,153,155,178,180],totallength:[11,121],tphi:109,transform:[5,109,110,127],translat:[0,3,4,5,6,7,11,12,15,16,17,105,111,114,116,117,118,119,121,124,125,126,150,151,152,153,154,156,157,158,159,179,182,186],trasformati:110,trasformazion:110,traslazion:127,travel:[150,151,152,153,154,156,157,158,182],tree:[2,79,94,103,113,191],trento:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,185,190,191],tri_tri_intersection_2d:132,tri_tri_intersection_test_3d:132,tri_tri_overlap_test_2d:132,tri_tri_overlap_test_3d:132,triangl:[0,3,4,5,6,7,8,12,15,16,17,73,83,107,108,120,132,150,151,152,153,154,156,157,158,159,174,182,185,186],triangle2d:[3,4,5,6,7,8,12,15,16,23,34,55,102,105,106,107,108,111,112,114,116,117,118,119,120,121,124,125,131,133,140,141,160,173,181,187,188,189,191],triangle2denum:[18,133],triangle2dmexwrapp:[181,186],trim:[0,3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,124,125,131,150,151,152,153,154,156,157,158,182],triplet:130,tritrioverlap:[173,181,187,188,189],troppo:[107,127],tt:[105,127],ttheta0:[111,179],ttheta:[176,179],turn:[83,109],tvec:[3,4,5,6,7,12,15,16,105,106,107,111,114,116,117,118,119,121,124,125,131],two:[0,1,2,7,9,10,12,69,74,80,89,92,95,97,128,132,150,151,152,153,154,156,157,158,174,175,180,182,183,185],twofn:127,tx0:[107,127],tx1:[107,127,128],tx2:128,tx:[0,3,4,5,6,7,11,12,15,16,17,104,105,106,111,114,116,117,118,119,121,122,124,125,126,127,128,131,150,151,152,153,154,156,157,158,159,182,186],tx_begin:[3,4,5,6,7,12,15,16,114,115,116,117,118,119,121,124,130],tx_d:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,124,127,128],tx_dd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,124,127,128],tx_ddd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,124,127,128],tx_end:[3,4,5,6,7,12,15,16,114,115,116,117,121,124],txy:127,ty0:[107,127,179],ty1:[107,127,128],ty2:128,ty:[0,3,4,5,6,7,11,12,15,16,17,104,105,106,111,114,116,117,118,119,121,122,124,125,126,127,128,131,150,151,152,153,154,156,157,158,159,176,179,182,186],ty_begin:[3,4,5,6,7,12,15,16,114,115,116,117,118,119,121,124,130],ty_d:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,124,127,128],ty_dd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,124,127,128],ty_ddd:[3,4,5,6,7,12,15,16,104,105,106,111,114,116,117,118,119,121,124,127,128],ty_end:[3,4,5,6,7,12,15,16,114,115,116,117,121,124],type:[1,2,13,104,105,106,107,111,114,129,130,131,133,140,184,187,188],typedef:[1,2,112,113,114,121,129,130,131,141],typenam:[2,113],u:[127,128],ub:180,undamp:110,undef:[103,106,107,109,127,130,131,132],underli:[132,150,157,158,175,177,180,182,183,184,186],unibz:[0,190,191],uniqu:[0,114,117,154,179],unitn:[0,103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,185,190,191],univers:[0,185,190,191],universita:[103,104,105,106,107,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131],uns:0,unstabl:[127,155,180],unus:124,up:[150,151,152,153,154,156,157,158,182],updat:132,us:[0,2,7,12,14,103,104,105,106,107,109,110,111,113,115,117,119,120,121,127,128,129,130,131,132,150,151,152,153,154,155,156,157,158,176,178,179,180,182,191],usag:[150,151,152,153,154,156,157,158,159,174,175,176,177,178,179,182,183,184,185,186],use_ipopt:180,use_iso:[114,123,128],uso:[107,127],usual:191,util:[3,4,5,6,7,12,15,16,34,105,106,107,109,110,111,112,114,116,117,118,119,121,124,125,127,128,130,131,181,191],utils_assert0:[104,105,107,109,111,125,131],utils_assert:[104,105,106,107,108,109,110,111,116,127,131],utils_error0:[119,125],utils_error:[104,105,106,107,124,125,130,131],v:[110,114,119,121,123,128],val:[13,110,121],valu:[5,6,12,13,24,121,127,130,150,151,152,153,154,156,157,158,180,182],varargin:[150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,183,184,186],varargout:[176,178,179,182],varepsilon:[143,144,145,146,149],vari:0,variabl:141,variat:[0,3,4,5,6,7,11,12,15,16,107,150,151,152,153,154,156,157,158,182],vecpairptrbbox:[2,103,105,107,111,113,131],vecptrbbox:[2,103,105,107,111,113],vector:[0,1,2,3,4,5,6,7,12,15,16,34,103,105,106,107,110,111,112,113,114,116,117,118,119,121,124,125,131,136,150,151,152,153,154,156,157,158,176,178,179,182,184],venkata:[98,127],verbos:[155,180],version:132,vicina:127,virtual:[3,4,5,6,7,12,15,16,114,124],visual:[103,106,109,127,130,131],vmax:[93,123],vmin:[93,123],vol:[0,4,7,11,155,180,191,192],vol_16:[0,191,192],w:[106,176,179],wa:[153,178],wai:[0,12,150,151,152,153,154,156,157,158,182,191],wang:4,want:0,warn:180,warranti:191,web:132,weight:0,well:107,wexit:129,wglobal:[127,128,129],when:[0,2,132],where:[0,3,4,5,6,7,11,12,15,16,150,151,152,153,154,156,157,158,182,191],whether:191,which:[0,127],whole:2,whose:12,wich:109,width:180,wilei:[0,98,127,191,192],william:[98,127],win_x64:191,window:[0,107,132,191],wise:130,without:191,work:121,workaround:[103,106,107,109,127,130,131,132],wrap_in_rang:[12,111,121],wrapper:[150,157,158,175,177,180,182,183,184,186],wrong:[107,110],wshadow:127,wsign:[105,110,111],wswitch:110,www:[0,130,132,191,192],x0:[0,4,5,6,7,8,9,10,11,12,15,16,72,76,90,104,105,106,107,108,109,110,111,116,117,118,119,120,121,122,123,124,125,127,128,130,131,150,151,152,153,154,156,157,158,159,175,176,177,178,179,182,183,186],x1:[0,4,5,6,7,8,9,10,11,12,17,91,104,105,106,107,108,109,110,111,116,117,118,119,120,121,122,123,126,127,128,130,131,150,151,152,153,154,156,157,158,159,175,176,177,178,179,182,183,186],x2:[0,4,6,8,17,91,104,105,107,108,111,116,118,119,120,123,126,128,150,152,159,175,177,186],x3:[8,17,105,107,108,111,120,126],x:[0,1,2,3,4,5,6,7,8,11,12,14,15,16,17,56,57,60,61,64,67,68,70,71,72,75,76,81,84,85,86,87,90,91,96,97,98,103,104,105,106,107,108,109,110,111,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,130,131,132,150,151,152,153,154,155,156,157,158,159,175,176,177,178,179,180,182,184,186],x_0:[4,5,7,9,10],x_1:[4,5,7,9,10,91],x_2:91,x_begin0:0,x_begin1:0,x_begin:[0,3,4,5,6,7,11,12,15,16,104,105,106,107,108,111,114,115,116,117,118,119,121,124,125,130,131,150,151,152,153,154,156,157,158,175,177,178,182,183],x_begin_iso:[3,4,5,6,7,12,15,16,114,115,116,117,118,119,121,124,125,130],x_begin_sa:[3,4,5,6,7,12,15,16,114,115],x_d:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128],x_dd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128],x_ddd:[0,3,4,5,6,7,11,12,15,16,104,105,106,110,111,114,115,116,117,118,119,121,122,124,125,127,128],x_end0:0,x_end1:0,x_end:[0,3,4,5,6,7,11,12,15,16,104,105,107,110,111,114,115,116,117,118,119,121,124,125,130,131,150,151,152,153,154,156,157,158,175,177,178,182,183],x_end_iso:[3,4,5,6,7,12,15,16,114,115,116,117,118,119,121,124,125,130],x_end_sa:[3,4,5,6,7,12,15,16,114,115],x_i:[5,81,97,155,180],x_iso:[3,4,5,6,7,12,15,16,104,105,106,111,114,115,116,117,119,121,122,124,127,128],x_iso_d:[3,4,5,6,7,12,15,16,104,105,111,114,115,116,117,119,121,122,124,127,128],x_iso_dd:[3,4,5,6,7,12,15,16,104,105,111,114,115,116,117,119,121,122,124,127,128],x_iso_ddd:[3,4,5,6,7,12,15,16,104,105,111,114,115,116,117,119,121,122,124,127,128],x_middl:[4,116,150,175],x_sae:[3,4,5,6,7,12,15,16,114,115,122,127],x_sae_d:[3,4,5,6,7,12,15,16,114,115,122,127],x_sae_dd:[3,4,5,6,7,12,15,16,114,115,122,127],x_sae_ddd:[3,4,5,6,7,12,15,16,114,115,122,127],x_wnd:0,xa:110,xaxi:108,xbar:[110,121],xbegin0:0,xbegin1:0,xbegin:[0,114,116,117,118,119,121,124,125,150,151,152,153,154,156,157,158,182],xbegin_iso:[114,116,117,118,119,121,124,125],xbegin_sa:114,xc:124,xend0:0,xend1:0,xend:[0,114,116,117,118,119,121,124,125,150,151,152,153,154,156,157,158,182],xend_iso:[114,116,117,118,119,121,124,125],xend_sa:114,xflex:109,xm:[0,106,110,153,178],xma1:104,xmax1:106,xmax:[1,2,3,4,5,6,7,8,12,15,16,17,103,104,105,106,107,108,111,113,114,116,117,118,119,120,121,124,125,126,130,131,150,151,152,153,154,156,157,158,182],xmi1:104,xmid:103,xmiddl:[116,150,175],xmin1:106,xmin:[1,2,3,4,5,6,7,8,12,15,16,17,103,104,105,106,107,108,111,113,114,116,117,118,119,120,121,124,125,126,130,131,150,151,152,153,154,156,157,158,182],xml:110,xmm:110,xmp:110,xn:12,xp:[0,153,178],xs:[104,109],xunnian:4,xvec:[13,110,121],xx0:[7,106,119,122,127,130],xx1:[7,106,119,122,127,128],xx2:[7,106,119,122,127,128],xx:[105,106,107,109,110,111,127,128,131,177],xy:[0,5,127,150,151,152,153,154,156,157,158,179,182],xy_begin:[150,151,152,153,154,156,157,158,182],xy_d:0,xy_dd:0,xy_ddd:0,xy_end:[150,151,152,153,154,156,157,158,182],xy_to_angl:181,xy_to_guess_angl:[12,50,102,105,110,123,128,133,140],xybegin:[150,151,152,153,154,156,157,158,182],xyend:[150,151,152,153,154,156,157,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Interface Manual","Class BBox","Class AABBtree","Class BaseCurve","Class Biarc","Class BiarcList","Class CircleArc","Class ClothoidCurve","Class AsyPlot","Class G2solve2arc","Class G2solveCLC","Class G2solve3arc","Class ClothoidList","Class ClothoidSplineG2","Class Solve2x2","Class LineSegment","Class PolyLine","Class Triangle2D","Class Hierarchy","Define G2LIB_DEBUG_MESSAGE","Define G2LIB_USE_CXX11","Define GLIB2_TOL_ANGLE","Define CLOTHOIDS_dot_HH","Directory Clothoids","Enum CurveType","File AABBtree.cc","File Biarc.cc","File BiarcList.cc","File Circle.cc","File Clothoid.cc","File ClothoidAsyPlot.cc","File ClothoidDistance.cc","File ClothoidG2.cc","File ClothoidList.cc","File Clothoids.hh","File AABBtree.hxx","File BaseCurve.hxx","File BaseCurve_using.hxx","File Biarc.hxx","File BiarcList.hxx","File Circle.hxx","File Clothoid.hxx","File ClothoidAsyPlot.hxx","File ClothoidList.hxx","File Fresnel.hxx","File G2lib.hxx","File Line.hxx","File PolyLine.hxx","File Triangle2D.hxx","File Fresnel.cc","File G2lib.cc","File G2lib_intersect.cc","File Line.cc","File PolyLine.cc","File Triangle2D.cc","File Hierarchy","Function G2lib::Sinc_DD","Function G2lib::Sinc","Function G2lib::operator<<(ostream_type&, LineSegment const&)","Function G2lib::operator<<(ostream_type&, ClothoidList const&)","Function G2lib::Atanc_DDD","Function G2lib::FresnelCS(int_type, real_type, real_type *, real_type *)","Function G2lib::operator<<(ostream_type&, ClothoidSplineG2 const&)","Function G2lib::operator<<(ostream_type&, BBox const&)","Function G2lib::Atanc_D","Function G2lib::GeneralizedFresnelCS(int_type, real_type, real_type, real_type, real_type *, real_type *)","Function G2lib::GeneralizedFresnelCS(real_type, real_type, real_type, real_type&, real_type&)","Function G2lib::Sinc_DDD","Function G2lib::Cosc_D","Function G2lib::collision_ISO","Function G2lib::Sinc_D","Function G2lib::solveLinearQuadratic2","Function G2lib::pointInsideCircle","Function G2lib::isPointInTriangle","Function G2lib::intersect_ISO","Function G2lib::solveLinearQuadratic","Function G2lib::projectPointOnCircle","Function G2lib::operator<<(ostream_type&, Biarc const&)","Function G2lib::operator<<(ostream_type&, PolyLine const&)","Function G2lib::yesAABBtree","Function G2lib::collision_SAE","Function G2lib::build_guess_theta","Function G2lib::operator<<(ostream_type&, Triangle2D const&)","Function G2lib::isCounterClockwise","Function G2lib::Cosc","Function G2lib::Atanc_DD","Function G2lib::Atanc","Function G2lib::Cosc_DD","Function G2lib::operator<<(ostream_type&, ClothoidCurve const&)","Function G2lib::intersect_SAE","Function G2lib::projectPointOnCircleArc","Function G2lib::intersectCircleCircle","Function G2lib::collision","Function G2lib::minmax3","Function G2lib::noAABBtree","Function G2lib::intersect","Function G2lib::Cosc_DDD","Function G2lib::xy_to_guess_angle","Function G2lib::FresnelCS(real_type, real_type&, real_type&)","Function G2lib::rangeSymm","Function G2lib::operator<<(ostream_type&, BiarcList const&)","Function G2lib::operator<<(ostream_type&, CircleArc const&)","Namespace G2lib","Program Listing for File AABBtree.cc","Program Listing for File Biarc.cc","Program Listing for File BiarcList.cc","Program Listing for File Circle.cc","Program Listing for File Clothoid.cc","Program Listing for File ClothoidAsyPlot.cc","Program Listing for File ClothoidDistance.cc","Program Listing for File ClothoidG2.cc","Program Listing for File ClothoidList.cc","Program Listing for File Clothoids.hh","Program Listing for File AABBtree.hxx","Program Listing for File BaseCurve.hxx","Program Listing for File BaseCurve_using.hxx","Program Listing for File Biarc.hxx","Program Listing for File BiarcList.hxx","Program Listing for File Circle.hxx","Program Listing for File Clothoid.hxx","Program Listing for File ClothoidAsyPlot.hxx","Program Listing for File ClothoidList.hxx","Program Listing for File Fresnel.hxx","Program Listing for File G2lib.hxx","Program Listing for File Line.hxx","Program Listing for File PolyLine.hxx","Program Listing for File Triangle2D.hxx","Program Listing for File Fresnel.cc","Program Listing for File G2lib.cc","Program Listing for File G2lib_intersect.cc","Program Listing for File Line.cc","Program Listing for File PolyLine.cc","Program Listing for File Triangle2D.cc","C++ API","Typedef G2lib::real_type","Typedef G2lib::Ipair","Typedef G2lib::IntersectList","Typedef G2lib::int_type","Typedef G2lib::istream_type","Typedef G2lib::ostream_type","Full API","Full API","Variable G2lib::intersect_with_AABBtree","Variable G2lib::machepsi10","Variable G2lib::machepsi1000","Variable G2lib::machepsi100","Variable G2lib::machepsi","Variable G2lib::m_1_sqrt_pi","Variable G2lib::CurveType_name","Variable G2lib::sqrtMachepsi","Class Biarc","Class BiarcList","Class CircleArc","Class ClothoidCurve","Class ClothoidList","Class ClothoidSplineG2","Class CurveBase","Class LineSegment","Class PolyLine","Class Triangle2D","Class Hierarchy","File Biarc.m","File BiarcList.m","File CircleArc.m","File ClothoidCurve.m","File ClothoidList.m","File ClothoidSplineG2.m","File CompileOctave.m","File CurveBase.m","File LineSegment.m","File PolyLine.m","File TriTriOverlap.m","File Triangle2D.m","File Hierarchy","Function TriTriOverlap","Program Listing for File Biarc.m","Program Listing for File BiarcList.m","Program Listing for File CircleArc.m","Program Listing for File ClothoidCurve.m","Program Listing for File ClothoidList.m","Program Listing for File ClothoidSplineG2.m","Program Listing for File CompileOctave.m","Program Listing for File CurveBase.m","Program Listing for File LineSegment.m","Program Listing for File PolyLine.m","Program Listing for File TriTriOverlap.m","Program Listing for File Triangle2D.m","MATLAB API","Full API","Full API","Authors","G1 and G2 fitting with clothoids, spline of clothods, circle arc and biarc","References"],titleterms:{"class":[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,35,36,38,39,40,41,42,43,45,46,47,48,102,133,140,150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,166,168,169,170,172,187,188],"const":[58,59,62,63,77,78,82,88,100,101],"enum":[24,36,102,133,140],"function":[26,27,28,29,32,33,35,36,45,49,50,51,52,53,54,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,133,140,171,174,187,188],By:[34,35,36,37,38,39,40,41,42,43,44,45,46,47,48],aabbtre:[2,25,35,103,113],api:[133,140,141,187,188,189],arc:191,asyplot:8,atanc:86,atanc_d:64,atanc_dd:85,atanc_ddd:60,author:[0,190,191],base:[4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],basecurv:[3,36,114],basecurve_us:[37,115],bbox:[1,63],biarc:[0,4,26,38,77,104,116,150,161,175,191],biarclist:[5,27,39,100,105,117,151,162,176],build_guess_theta:81,c:[133,191],cc:[25,26,27,28,29,30,31,32,33,49,50,51,52,53,54,103,104,105,106,107,108,109,110,111,127,128,129,130,131,132],circl:[28,40,106,118,191],circlearc:[0,6,101,152,163,177],clothod:191,clothoid:[23,29,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,107,112,119,191],clothoidasyplot:[30,42,108,120],clothoidcurv:[0,7,88,153,164,178],clothoiddist:[31,109],clothoidg2:[32,110],clothoidlist:[0,12,33,43,59,111,121,154,165,179],clothoids_dot_hh:22,clothoidsplineg2:[0,13,62,155,166,180],collis:92,collision_iso:69,collision_sa:80,compileoctav:[167,181],constuctor:0,content:[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,102,161,162,163,164,165,166,167,168,169,170,171,172,191],cosc:84,cosc_d:68,cosc_dd:87,cosc_ddd:96,curvebas:[156,168,182],curvetyp:24,curvetype_nam:148,defin:[19,20,21,22,34,133,140],definit:[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,161,162,163,164,165,166,167,168,169,170,171,172],deriv:[3,156],descript:102,detail:102,directori:[23,141],distanc:0,document:[1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,19,20,21,22,24,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,134,135,136,137,138,139,142,143,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,174],evalu:0,file:[23,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,133,141,161,162,163,164,165,166,167,168,169,170,171,172,173,175,176,177,178,179,180,181,182,183,184,185,186,187,189],fit:191,fresnel:[44,49,122,127],fresnelc:[0,61,98],full:[133,140,141,187,188,189],g1:191,g2:191,g2lib:[45,50,56,57,58,59,60,61,62,63,64,65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,91,92,93,94,95,96,97,98,99,100,101,102,123,128,134,135,136,137,138,139,142,143,144,145,146,147,148,149],g2lib_debug_messag:19,g2lib_intersect:[51,129],g2lib_use_cxx11:20,g2solve2arc:9,g2solve3arc:11,g2solveclc:10,generalizedfresnelc:[65,66],glib2_tol_angl:21,hh:[34,112],hierarchi:[18,55,133,160,173,187],hxx:[35,36,37,38,39,40,41,42,43,44,45,46,47,48,113,114,115,116,117,118,119,120,121,122,123,124,125,126],includ:[25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54],inherit:[3,4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],instal:[0,191],int_typ:[61,65,137],interfac:0,intersect:[0,95],intersect_iso:74,intersect_sa:89,intersect_with_aabbtre:142,intersectcirclecircl:91,intersectlist:136,ipair:135,iscounterclockwis:83,ispointintriangl:73,istream_typ:138,licens:191,line:[46,52,124,130],lineseg:[0,15,58,157,169,183],list:[103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,175,176,177,178,179,180,181,182,183,184,185,186],m:[161,162,163,164,165,166,167,168,169,170,171,172,175,176,177,178,179,180,181,182,183,184,185,186],m_1_sqrt_pi:147,machepsi1000:144,machepsi100:145,machepsi10:143,machepsi:146,manual:0,matlab:[0,187,191],method:0,mex:0,minmax3:93,namespac:[25,26,27,28,29,30,31,32,33,34,35,36,38,39,40,41,42,43,44,45,46,47,48,49,50,51,52,53,54,102,133,140],noaabbtre:94,oper:[58,59,62,63,77,78,82,88,100,101],ostream_typ:[58,59,62,63,77,78,82,88,100,101,139],pointinsidecircl:72,polylin:[16,47,53,78,125,131,158,170,184],program:[103,104,105,106,107,108,109,110,111,112,113,114,115,116,117,118,119,120,121,122,123,124,125,126,127,128,129,130,131,132,175,176,177,178,179,180,181,182,183,184,185,186],projectpointoncircl:76,projectpointoncirclearc:90,rangesymm:99,real_typ:[61,65,66,98,134],refer:[0,191,192],relationship:[3,4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],sinc:57,sinc_d:70,sinc_dd:56,sinc_ddd:67,solve2x2:14,solvelinearquadrat:75,solvelinearquadratic2:71,spline:191,sqrtmachepsi:149,struct:[133,140,187,188],triangle2d:[0,17,48,54,82,126,132,159,172,186],tritrioverlap:[171,174,185],type:[3,4,5,6,7,12,15,16,150,151,152,153,154,155,156,157,158,159],typedef:[34,36,102,133,134,135,136,137,138,139,140],variabl:[50,102,133,140,142,143,144,145,146,147,148,149],xy_to_guess_angl:97,yesaabbtre:79}}) \ No newline at end of file diff --git a/submodules/Utils b/submodules/Utils index c6b423f0..d700f36c 160000 --- a/submodules/Utils +++ b/submodules/Utils @@ -1 +1 @@ -Subproject commit c6b423f05d19606c6d1cbac9eb6fa29d9e8799ad +Subproject commit d700f36cb866c284de019a5f61296800c823587b diff --git a/toolbox/lib/CircleArc.m b/toolbox/lib/CircleArc.m index eeae8847..6d2911ab 100644 --- a/toolbox/lib/CircleArc.m +++ b/toolbox/lib/CircleArc.m @@ -173,6 +173,35 @@ function plot( self, npts, fmt ) plot(X,Y,fmt{:}); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export circle parameters + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`, `S.y0`: initial point of the circle arc + %> - `S.x1`, `S.y1`: final point of the circle arc + %> - `S.theta0`: initial angle of the circle arc + %> - `S.theta1`: final angle of the circle arc + %> - `S.kappa`: curvature of the circle arc + %> - `S.L`: length of the clothoid arc + %> + function S = export( self ) + S.x0 = self.x_begin(); + S.y0 = self.y_begin(); + S.theta0 = self.theta_begin(); + S.kappa = self.kappa_begin(); + S.x1 = self.x_end(); + S.y1 = self.y_end(); + S.theta1 = self.theta_end(); + S.L = self.length(); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the polygon of the NURBS for the arc %> %> **Usage:** @@ -187,7 +216,7 @@ function plot( self, npts, fmt ) %> %> - `fmt` : format of the arc %> - function plotPolygon( self, varargin ) + function plot_polygon( self, varargin ) arc = self.to_nurbs(); xx = arc.coefs(1,:)./arc.coefs(3,:); yy = arc.coefs(2,:)./arc.coefs(3,:); @@ -197,5 +226,10 @@ function plotPolygon( self, varargin ) plot(xx,yy,':ok'); end end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotPolygon( self, varargin ) + self.plot_polygon( varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - end end diff --git a/toolbox/lib/ClothoidCurve.m b/toolbox/lib/ClothoidCurve.m index c10a77be..46d1ab17 100644 --- a/toolbox/lib/ClothoidCurve.m +++ b/toolbox/lib/ClothoidCurve.m @@ -297,6 +297,39 @@ function changeCurvilinearOrigin( self, s0, L ) dk = self.kappa_D(0); L = self.length(); end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export clothoid parameters + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`, `S.y0`: initial point of the clothoid arc + %> - `S.x1`, `S.y1`: final point of the clothoid arc + %> - `S.theta0`: initial angle of the clothoid arc + %> - `S.theta1`: final angle of the clothoid arc + %> - `S.kappa0`: initial curvature of the clothoid arc + %> - `S.kappa1`: final curvature of the clothoid arc + %> - `S.dk`: curvature derivative + %> - `S.L`: length of the clothoid arc + %> + function S = export( self ) + S.x0 = self.x_begin(); + S.y0 = self.y_begin(); + S.theta0 = self.theta_begin(); + S.kappa0 = self.kappa_begin(); + S.x1 = self.x_end(); + S.y1 = self.y_end(); + S.theta1 = self.theta_end(); + S.kappa1 = self.kappa_end(); + S.dk = self.kappa_D(0); + S.L = self.length(); + end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Get an optimized sampling of curviliear coordinates on the clothoid arc %> @@ -388,7 +421,8 @@ function plot_offs( self, offs, npts, varargin ) %> %> - `npts`: number of sampling points for plotting %> - function plotCurvature( self, npts, varargin ) + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plot_curvature( self, npts, varargin ) if nargin < 2 npts = 1000; end @@ -399,6 +433,10 @@ function plotCurvature( self, npts, varargin ) plot( S, kappa, varargin{:} ); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotCurvature( self, npts, varargin ) + self.plot_curvature( npts, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the angle of the clothoid curve %> %> **Usage:** @@ -413,7 +451,8 @@ function plotCurvature( self, npts, varargin ) %> %> - `npts`: number of sampling points for plotting %> - function plotAngle( self, npts, varargin ) + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plot_angle( self, npts, varargin ) if nargin < 2 npts = 1000; end @@ -424,6 +463,10 @@ function plotAngle( self, npts, varargin ) plot( S, theta, varargin{:} ); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotAngle( self, npts, varargin ) + self.plot_angle( nots, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the normal of the clothoid curve %> %> **Usage:** @@ -438,7 +481,8 @@ function plotAngle( self, npts, varargin ) %> - `step`: number of sampling normals %> - `len`: length of the plotted normal %> - function plotNormal( self, step, len ) + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plot_normal( self, step, len ) for s=0:step:self.length() [ x, y, theta, ~ ] = self.evaluate(s); n = [sin(theta),-cos(theta)]; @@ -447,5 +491,9 @@ function plotNormal( self, step, len ) plot(A,B); end end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotNormal( self, step, len ) + self.plot_normal( step, len ); + end end end diff --git a/toolbox/lib/ClothoidList.m b/toolbox/lib/ClothoidList.m index 36908bde..b391643c 100644 --- a/toolbox/lib/ClothoidList.m +++ b/toolbox/lib/ClothoidList.m @@ -158,7 +158,7 @@ function push_back_G1( self, varargin ) end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Get the clothoid at position `k`. - %> The biarc is returned as a clothoid object or the data + %> The clothoid is returned as a clothoid object or the data %> defining the clothoid. %> %> \rst @@ -489,6 +489,43 @@ function info( self ) ); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export list of clothoids + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`: vector of initial point x-coordinate + %> - `S.y0`: vector of initial point y-coordinate + %> - `S.theta0`: vector of initial angles + %> - `S.kappa0`: vector of initial curvatures + %> - `S.dkappa`: vector of curvature derivative of the segments + %> - `S.L`: vector of segment length + %> + function S = export( self ) + N = ClothoidListMexWrapper( 'num_segments', self.objectHandle ); + S.x0 = zeros(1,N); + S.y0 = zeros(1,N); + S.theta0 = zeros(1,N); + S.kappa0 = zeros(1,N); + S.dkappa = zeros(1,N); + S.L = zeros(1,N); + for k=1:N + [ x, y, th, k0, dk, ell ] = ClothoidListMexWrapper( 'get', self.objectHandle, k ); + S.x0(k) = x; + S.y0(k) = y; + S.theta0(k) = th; + S.kappa0(k) = k0; + S.dkappa(k) = dk; + S.L(k) = ell; + end + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the clothoid list %> %> **Usage:** @@ -597,7 +634,7 @@ function plot_offs( self, offs, npts, varargin ) %> - `fmt1`: format of the first arc %> - `fmt2`: format of the second arc %> - function plotCurvature( self, npts, varargin ) + function plot_curvature( self, npts, varargin ) if nargin > 2 fmt1 = varargin{1}; else @@ -623,6 +660,10 @@ function plotCurvature( self, npts, varargin ) end end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotCurvature( self, npts, varargin ) + self.plot_curvature( npts, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the angle of the clothoid list %> %> **Usage:** @@ -642,7 +683,7 @@ function plotCurvature( self, npts, varargin ) %> - `fmt1`: format of the first arc %> - `fmt2`: format of the second arc %> - function plotAngle( self, npts, varargin ) + function plot_angle( self, npts, varargin ) if nargin > 2 fmt1 = varargin{1}; else @@ -668,6 +709,10 @@ function plotAngle( self, npts, varargin ) end end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotAngle( self, npts, varargin ) + self.plot_angle( npts, varargin{:} ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the normal of the clothoid list %> %> **Usage:** @@ -682,13 +727,17 @@ function plotAngle( self, npts, varargin ) %> - `step`: number of sampling normals %> - `len`: length of the plotted normal %> - function plotNormal( self, step, len ) + function plot_normal( self, step, len ) for k=1:self.num_segments() C = self.get(k); C.plotNormal( step, len ); end end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function plotNormal( self, step, len ) + self.plot_normal( step, len ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Save the clothoid list sampled on a file %> %> **Usage:** @@ -714,7 +763,7 @@ function plotNormal( self, step, len ) %> %> \endrst %> - function saveSampled( self, filename, ds ) + function save_sampled( self, filename, ds ) fd = fopen( filename, 'w' ); L = self.length(); n = ceil( L / ds ); @@ -727,6 +776,10 @@ function saveSampled( self, filename, ds ) fclose(fd); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function saveSampled( self, filename, ds ) + self.save_sampled( filename, ds ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Save the clothoid list on a file as a list of segments %> %> **Usage:** @@ -752,7 +805,7 @@ function saveSampled( self, filename, ds ) %> %> \endrst %> - function saveClothoids( self, filename ) + function save_clothoids( self, filename ) fd = fopen( filename, 'w' ); fprintf(fd,'x0\ty0\ttheta0\tkappa0\tdk\tL\n'); for k=1:self.num_segments() @@ -762,7 +815,11 @@ function saveClothoids( self, filename ) end fclose(fd); end - + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + function saveClothoids( self, filename ) + self.save_clothoids( filename ); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - end end diff --git a/toolbox/lib/LineSegment.m b/toolbox/lib/LineSegment.m index 7c15f899..f14808d3 100644 --- a/toolbox/lib/LineSegment.m +++ b/toolbox/lib/LineSegment.m @@ -81,6 +81,31 @@ function build( self, varargin ) [p1,p2] = LineSegmentMexWrapper('points', self.objectHandle ); end % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + %> Export circle parameters + %> + %> **Usage:** + %> + %> \rst + %> .. code-block:: matlab + %> + %> S = ref.export(); + %> + %> \endrst + %> + %> - `S.x0`, `S.y0`: initial point of the line segment + %> - `S.x1`, `S.y1`: final point of the line segment + %> - `S.theta`: initial/final angle of the line segment + %> - `S.L`: length of the line segment + %> + function S = export( self ) + S.x0 = self.x_begin(); + S.y0 = self.y_begin(); + S.theta = self.theta_begin(); + S.x1 = self.x_end(); + S.y1 = self.y_end(); + S.L = self.length(); + end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - %> Plot the segment %> %> **Usage:** @@ -98,5 +123,6 @@ function plot( self, varargin ) [ p1, p2 ] = self.points(); plot( [ p1(1), p2(1) ], [ p1(2), p2(2) ], varargin{:} ); end + % - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - end end diff --git a/toolbox/src/Malloc.cc b/toolbox/src/Malloc.cc index 780c07c2..a3a09f7c 100644 --- a/toolbox/src/Malloc.cc +++ b/toolbox/src/Malloc.cc @@ -122,14 +122,14 @@ namespace Utils { "Memory allocation failed: {}\nTry to allocate {} bytes for {}\n", exc.what(), n, m_name ); - printTrace( __LINE__, __FILE__, reason, cerr ); + print_trace( __LINE__, __FILE__, reason, cerr ); exit(0); } catch (...) { string reason = fmt::format( "Memory allocation failed for {}: memory exausted\n", m_name ); - printTrace( __LINE__, __FILE__, reason, cerr ); + print_trace( __LINE__, __FILE__, reason, cerr ); exit(0); } m_numTotValues = n; @@ -218,7 +218,7 @@ namespace Utils { string reason = fmt::format( "nMalloc<{}>::operator () ({}) -- Memory EXAUSTED\n", m_name, sz ); - printTrace( __LINE__, __FILE__, reason, cerr ); + print_trace( __LINE__, __FILE__, reason, cerr ); exit(0); } @@ -232,14 +232,14 @@ namespace Utils { "in {} {}: not fully used!\nUnused: {} values\n", m_name, where, m_numTotValues - m_numAllocated ); - printTrace( __LINE__,__FILE__, tmp, cerr ); + print_trace( __LINE__,__FILE__, tmp, cerr ); } if ( m_numAllocated > m_numTotValues ) { string tmp = fmt::format( "in {} {}: too much used!\nMore used: {} values\n", m_name, where, m_numAllocated - m_numTotValues ); - printTrace( __LINE__,__FILE__, tmp, cerr ); + print_trace( __LINE__,__FILE__, tmp, cerr ); } } diff --git a/toolbox/src/Table.cc b/toolbox/src/Table.cc index a4bb55f5..3bfdd4d0 100644 --- a/toolbox/src/Table.cc +++ b/toolbox/src/Table.cc @@ -80,22 +80,22 @@ namespace Utils { Cell::Cell( Table* table, string const & val, - integer colSpan + integer col_span ) : m_Table(table) , m_Value(val) - , m_ColSpan(colSpan) + , m_col_span(col_span) { m_Width = integer(val.length()); } integer Cell::width( integer col ) const { - integer padding = (m_ColSpan - 1) * m_Table->cellSpacing(); + integer padding = (m_col_span - 1) * m_Table->cell_spacing(); integer innerWidth = 0; - for( integer i = 0; i < m_ColSpan; ++i ) - innerWidth += m_Table->columnWidth(col + i); + for( integer i = 0; i < m_col_span; ++i ) + innerWidth += m_Table->column_width(col + i); return innerWidth + padding; } @@ -106,7 +106,7 @@ namespace Utils { } integer - Cell::maxLineWidth() const { + Cell::maximum_line_width() const { integer maxlen = 0; string line; istringstream stream( m_Value ); @@ -123,14 +123,14 @@ namespace Utils { istringstream stream(m_Value); string line; for( integer i = 0; i <= idx; ++i) getline(stream, line); - this->trimLine(line); + this->trim_line(line); return line; } return ""; } void - Cell::trimLine( string & line ) const { + Cell::trim_line( string & line ) const { auto fun = [] ( char c ) -> bool { return isspace(int(c)) == 0; }; line.erase( line.begin(), find_if( line.begin(), line.end(), fun ) ); line.erase( find_if( line.rbegin(), line.rend(), fun ).base(), line.end() ); @@ -140,8 +140,8 @@ namespace Utils { Cell::render( integer line, integer col ) const { stringstream ss; integer width = this->width(col); - integer pL = m_Table->style().paddingLeft(); - integer pR = m_Table->style().paddingRight(); + integer pL = m_Table->style().padding_left(); + integer pR = m_Table->style().padding_right(); switch( m_Align ) { case Alignment::LEFT: @@ -157,7 +157,7 @@ namespace Utils { case Alignment::CENTER: { string val = this->line(line); - integer innerWidth = width + m_Table->cellPadding(); + integer innerWidth = width + m_Table->cell_padding(); integer spaceLeft = (innerWidth-integer(val.length()))/2; ss << string(spaceLeft, ' ') << setw(innerWidth - spaceLeft) << left << setfill(' ') << this->line(line); @@ -192,14 +192,14 @@ namespace Utils { } integer - Row::cellWidth( integer idx ) const { - if ( idx < this->numCells() ) return m_Cells[idx].maxLineWidth(); + Row::cell_width( integer idx ) const { + if ( idx < this->num_cells() ) return m_Cells[idx].maximum_line_width(); return 0; } void - Row::cellColSpan( integer idx, integer span ) { - if ( span > 0 && idx < this->numCells() ) m_Cells[idx].colSpan(span); + Row::cell_col_span( integer idx, integer span ) { + if ( span > 0 && idx < this->num_cells() ) m_Cells[idx].col_span(span); } void @@ -221,66 +221,66 @@ namespace Utils { string Row::render() const { - integer numColumns = m_Table->numColumns(); - integer paddingLR = m_Table->style().paddingLeft()+ - m_Table->style().paddingRight(); - integer numLines = this->height(); + integer num_columns = m_Table->num_columns(); + integer paddingLR = m_Table->style().padding_left()+ + m_Table->style().padding_right(); + integer numLines = this->height(); stringstream ss; Style style = m_Table->style(); integer nc = integer(m_Cells.size()); for ( integer l = 0; l < numLines; ++l ) { - ss << style.borderLeft(); - for( integer c = 0; c < numColumns; ++c ) { + ss << style.border_left(); + for( integer c = 0; c < num_columns; ++c ) { if ( c < nc ) { Cell const & C = m_Cells[c]; ss << C.render(l, c); - if ( C.colSpan() > 1 ) c += C.colSpan() - 1; + if ( C.col_span() > 1 ) c += C.col_span() - 1; } else { - ss << string(m_Table->columnWidth(c)+paddingLR,' '); + ss << string(m_Table->column_width(c)+paddingLR,' '); } - if ( c < numColumns-1 ) ss << style.borderMiddle(); + if ( c < num_columns-1 ) ss << style.border_middle(); } - ss << style.borderRight() << '\n'; + ss << style.border_right() << '\n'; } return ss.str(); } void - Table::alignColumn( integer n, Alignment align ) { - if ( n > this->numColumns() ) + Table::align_column( integer n, Alignment align ) { + if ( n > this->num_columns() ) throw out_of_range( - "Table error: The table just has " + to_string(this->numColumns()) + " columns." + "Table error: The table just has " + to_string(this->num_columns()) + " columns." ); for_each( m_Rows.begin(), m_Rows.end(), [n, align]( Row & row ) -> void { - if ( n < row.numCells() ) row[n].alignment(align); + if ( n < row.num_cells() ) row[n].alignment(align); } ); } void - Table::addRow( vecstr const & row ) { + Table::add_row( vecstr const & row ) { m_Rows.push_back( Row(this, row) ); } integer - Table::cellSpacing() const { - return this->cellPadding() + 1; + Table::cell_spacing() const { + return this->cell_padding() + 1; } integer - Table::cellPadding() const { - return m_Style.paddingLeft() + m_Style.paddingRight(); + Table::cell_padding() const { + return m_Style.padding_left() + m_Style.padding_right(); } typename Table::vecCell Table::column( integer n ) const { - if ( n > this->numColumns() ) + if ( n > this->num_columns() ) throw out_of_range( - "Table error: The table just has " + to_string(this->numColumns()) + " columns." + "Table error: The table just has " + to_string(this->num_columns()) + " columns." ); vecCell column(m_Rows.size()); @@ -294,15 +294,15 @@ namespace Utils { } integer - Table::columnWidth( integer n ) const { - if ( n > this->numColumns() ) + Table::column_width( integer n ) const { + if ( n > this->num_columns() ) throw out_of_range( - "Table error: The table just has " + to_string(this->numColumns()) + " columns." + "Table error: The table just has " + to_string(this->num_columns()) + " columns." ); integer maxlen = 0; auto fun = [&maxlen, n]( Row const & row ) -> void { - if ( n < row.numCells() ) { - integer cw = row.cellWidth(n); + if ( n < row.num_cells() ) { + integer cw = row.cell_width(n); if ( cw > maxlen ) maxlen = cw; } }; @@ -312,10 +312,10 @@ namespace Utils { } integer - Table::numColumns() const { - integer maxlen = m_Headings.numCells(); + Table::num_columns() const { + integer maxlen = m_Headings.num_cells(); auto fun = [&maxlen]( Row const & row ) -> void { - integer nc = row.numCells(); + integer nc = row.num_cells(); if ( nc > maxlen ) maxlen = nc; }; for_each( m_Rows.begin(), m_Rows.end(), fun ); @@ -357,7 +357,7 @@ namespace Utils { } string - Table::renderSeparator( + Table::render_separator( char left, char mid, char right, @@ -365,10 +365,10 @@ namespace Utils { ) const { stringstream ss; ss << left; - integer padding_LR = m_Style.paddingLeft() + m_Style.paddingRight(); - integer nc = this->numColumns(); + integer padding_LR = m_Style.padding_left() + m_Style.padding_right(); + integer nc = this->num_columns(); for ( integer i = 0; i < nc; ++i ) { - integer width = this->columnWidth(i) + padding_LR; + integer width = this->column_width(i) + padding_LR; for ( integer j = 0 ; j < width; ++j ) ss << sep; if ( i+1 < nc ) ss << mid; else ss << right; @@ -380,56 +380,56 @@ namespace Utils { string Table::render() const { stringstream ss; - string sep = this->renderSeparator( - m_Style.borderLeftMid(), - m_Style.borderMidMid(), - m_Style.borderRightMid(), - m_Style.borderMid() + string sep = this->render_separator( + m_Style.border_left_mid(), + m_Style.border_mid_mid(), + m_Style.border_right_mid(), + m_Style.border_mid() ); if ( m_Title.length() > 0 ) { - integer innerWidth = (this->numColumns() - 1) * this->cellSpacing() + this->cellPadding(); - for ( integer c = 0; c < this->numColumns(); ++c ) - innerWidth += this->columnWidth(c); + integer innerWidth = (this->num_columns() - 1) * this->cell_spacing() + this->cell_padding(); + for ( integer c = 0; c < this->num_columns(); ++c ) + innerWidth += this->column_width(c); integer spaceLeft = (innerWidth - integer(m_Title.length())) / 2; - ss << m_Style.borderTopLeft() - << string(innerWidth, m_Style.borderTop()) - << m_Style.borderTopRight() + ss << m_Style.border_top_left() + << string(innerWidth, m_Style.border_top()) + << m_Style.border_top_right() << '\n' - << m_Style.borderLeft() + << m_Style.border_left() << string(spaceLeft, ' ') << left << setw(innerWidth - spaceLeft) << setfill(' ') << m_Title - << m_Style.borderRight() + << m_Style.border_right() << '\n' << sep; } else { - ss << renderSeparator( - m_Style.borderTopLeft(), - m_Style.borderTopMid(), - m_Style.borderTopRight(), - m_Style.borderTop() + ss << render_separator( + m_Style.border_top_left(), + m_Style.border_top_mid(), + m_Style.border_top_right(), + m_Style.border_top() ); } - if ( m_Headings.numCells() > 0 ) + if ( m_Headings.num_cells() > 0 ) ss << m_Headings.render() << sep; if ( m_Rows.size() > 0 ) { for_each( m_Rows.begin(), --m_Rows.end(), [&ss, sep]( Row const & row ) -> void { - if ( row.numCells() > 0 ) ss << row.render() << sep; + if ( row.num_cells() > 0 ) ss << row.render() << sep; } ); ss << m_Rows.back().render(); } - ss << this->renderSeparator( - m_Style.borderBottomLeft(), - m_Style.borderBottomMid(), - m_Style.borderBottomRight(), - m_Style.borderBottom() + ss << this->render_separator( + m_Style.border_bottom_left(), + m_Style.border_bottom_mid(), + m_Style.border_bottom_right(), + m_Style.border_bottom() ); return ss.str(); } diff --git a/toolbox/src/Trace.cc b/toolbox/src/Trace.cc index 2bd4a337..bc1f62ab 100644 --- a/toolbox/src/Trace.cc +++ b/toolbox/src/Trace.cc @@ -62,7 +62,7 @@ namespace Utils { #ifdef UTILS_OS_WINDOWS void - printTrace( + print_trace( int line, char const * const file, string const & msg, @@ -119,7 +119,7 @@ namespace Utils { //! print a trace stack used in debug void - printTrace( + print_trace( int line, char const * const file, string const & reason, @@ -178,7 +178,7 @@ namespace Utils { int line ) const { ostringstream ost; - printTrace( line, file, reason, ost ); + print_trace( line, file, reason, ost ); return ost.str(); } #endif diff --git a/toolbox/src/Utils.cc b/toolbox/src/Utils.cc index fecaf8fd..ae3d70da 100644 --- a/toolbox/src/Utils.cc +++ b/toolbox/src/Utils.cc @@ -86,7 +86,7 @@ namespace Utils { template void - searchInterval( + search_interval( T_int npts, T_real const * const X, T_real & x, @@ -99,7 +99,7 @@ namespace Utils { T_int n = npts-1; UTILS_ASSERT( npts > 1 && lastInterval >= 0 && lastInterval < n, - "In searchInterval( npts={}, X, x={}, lastInterval={}, closed={}, can_extend={})\n" + "In search_interval( npts={}, X, x={}, lastInterval={}, closed={}, can_extend={})\n" "npts musrt be >= 2 and lastInterval must be in [0,npts-2]\n", npts, lastInterval, closed, can_extend ); @@ -116,7 +116,7 @@ namespace Utils { } else { UTILS_ASSERT( can_extend || (x >= xl && x <= xr), - "In searchInterval( npts={}, X, x={}, lastInterval={}, closed={}, can_extend={})\n" + "In search_interval( npts={}, X, x={}, lastInterval={}, closed={}, can_extend={})\n" "out of range: [{},{}]\n", npts, lastInterval, closed, can_extend, xl, xr ); @@ -151,14 +151,14 @@ namespace Utils { // check computed interval UTILS_ASSERT( lastInterval >= 0 && lastInterval < n, - "In searchInterval( npts={}, X, x={}, lastInterval={}, closed={}, can_extend={})\n" + "In search_interval( npts={}, X, x={}, lastInterval={}, closed={}, can_extend={})\n" "computed lastInterval of range: [{},{}]\n", npts, lastInterval, closed, can_extend, xl, xr ); } - extern template void searchInterval( + extern template void search_interval( int32_t npts, float const * const X, float & x, @@ -167,7 +167,7 @@ namespace Utils { bool can_extend ); - template void searchInterval( + template void search_interval( int32_t npts, double const * const X, double & x, @@ -176,7 +176,7 @@ namespace Utils { bool can_extend ); - template void searchInterval( + template void search_interval( int64_t npts, float const * const X, float & x, @@ -185,7 +185,7 @@ namespace Utils { bool can_extend ); - template void searchInterval( + template void search_interval( int64_t npts, double const * const X, double & x, diff --git a/toolbox/src/Utils/Quaternion.hxx b/toolbox/src/Utils/Quaternion.hxx index c355140e..f6f4dcb9 100644 --- a/toolbox/src/Utils/Quaternion.hxx +++ b/toolbox/src/Utils/Quaternion.hxx @@ -201,7 +201,7 @@ namespace Utils { //! and inversion. //! real_type - toAxis( real_type axis[3] ) const { + to_axis( real_type axis[3] ) const { real_type sin_phi = sqrt( m_Q[1]*m_Q[1] + m_Q[2]*m_Q[2] + m_Q[3]*m_Q[3] ); real_type cos_phi = m_Q[0]; real_type angle = 2 * atan2( sin_phi, cos_phi ); @@ -219,9 +219,9 @@ namespace Utils { //! Converts a rotation from quaternion to rotation matrix. //! void - toMatrix( real_type mat[3][3] ) const { + to_matrix( real_type mat[3][3] ) const { real_type axis[3]; - real_type angle = toAxis( axis ); + real_type angle = to_axis( axis ); real_type ca = cos( angle ); real_type sa = sin( angle ); diff --git a/toolbox/src/Utils/Table.hxx b/toolbox/src/Utils/Table.hxx index ccbd258f..716729bb 100644 --- a/toolbox/src/Utils/Table.hxx +++ b/toolbox/src/Utils/Table.hxx @@ -66,29 +66,29 @@ namespace Utils { class Style { private: - char m_BorderTop = '-'; - char m_BorderTopMid = '+'; - char m_BorderTopLeft = '+'; - char m_BorderTopRight = '+'; + char m_border_top = '-'; + char m_border_top_mid = '+'; + char m_border_top_left = '+'; + char m_border_top_right = '+'; - char m_BorderBottom = '-'; - char m_BorderBottomMid = '+'; - char m_BorderBottomLeft = '+'; - char m_BorderBottomRight = '+'; + char m_border_bottom = '-'; + char m_border_bottom_mid = '+'; + char m_border_bottom_left = '+'; + char m_border_bottom_right = '+'; - char m_BorderLeft = '|'; - char m_BorderLeftMid = '+'; + char m_border_left = '|'; + char m_border_left_mid = '+'; - char m_BorderMid = '-'; - char m_BorderMidMid = '+'; + char m_border_mid = '-'; + char m_border_mid_mid = '+'; - char m_BorderRight = '|'; - char m_BorderRightMid = '+'; + char m_border_right = '|'; + char m_border_right_mid = '+'; - char m_BorderMiddle = '|'; + char m_border_middle = '|'; - integer m_PaddingLeft = 1; - integer m_PaddingRight = 1; + integer m_padding_left = 1; + integer m_padding_right = 1; Alignment m_Align = Alignment::LEFT; @@ -98,71 +98,71 @@ namespace Utils { Style() {} - char borderTop() const { return m_BorderTop; } - void borderTop( char borderStyle ) { m_BorderTop = borderStyle; } + char border_top() const { return m_border_top; } + void border_top( char borderStyle ) { m_border_top = borderStyle; } - char borderTopMid() const { return m_BorderTopMid; } - void borderTopMid( char borderStyle ) { m_BorderTopMid = borderStyle; } + char border_top_mid() const { return m_border_top_mid; } + void border_top_mid( char borderStyle ) { m_border_top_mid = borderStyle; } - char borderTopLeft() const { return m_BorderTopLeft; } - void borderTopLeft( char borderStyle ) { m_BorderTopLeft = borderStyle; } + char border_top_left() const { return m_border_top_left; } + void border_top_left( char borderStyle ) { m_border_top_left = borderStyle; } - char borderTopRight() const { return m_BorderTopRight; } - void borderTopRight( char borderStyle ) { m_BorderTopRight = borderStyle; } + char border_top_right() const { return m_border_top_right; } + void border_top_right( char borderStyle ) { m_border_top_right = borderStyle; } - char borderBottom() const { return m_BorderBottom; } - void borderBottom( char borderStyle ) { m_BorderBottom = borderStyle; } + char border_bottom() const { return m_border_bottom; } + void border_bottom( char borderStyle ) { m_border_bottom = borderStyle; } - char borderBottomMid() const { return m_BorderBottomMid; } - void borderBottomMid( char borderStyle ) { m_BorderBottomMid = borderStyle; } + char border_bottom_mid() const { return m_border_bottom_mid; } + void border_bottom_mid( char borderStyle ) { m_border_bottom_mid = borderStyle; } - char borderBottomLeft() const { return m_BorderBottomLeft; } - void borderBottomLeft( char borderStyle ) { m_BorderBottomLeft = borderStyle; } + char border_bottom_left() const { return m_border_bottom_left; } + void border_bottom_left( char borderStyle ) { m_border_bottom_left = borderStyle; } - char borderBottomRight() const { return m_BorderBottomRight; } - void borderBottomRight( char borderStyle) { m_BorderBottomRight = borderStyle; } + char border_bottom_right() const { return m_border_bottom_right; } + void border_bottom_right( char borderStyle) { m_border_bottom_right = borderStyle; } - char borderLeft() const { return m_BorderLeft; } - void borderLeft( char borderStyle ) { m_BorderLeft = borderStyle; } + char border_left() const { return m_border_left; } + void border_left( char borderStyle ) { m_border_left = borderStyle; } - char borderLeftMid() const { return m_BorderLeftMid; } - void borderLeftMid( char borderStyle ) { m_BorderLeftMid = borderStyle; } + char border_left_mid() const { return m_border_left_mid; } + void border_left_mid( char borderStyle ) { m_border_left_mid = borderStyle; } - char borderMid() const { return m_BorderMid; } - void borderMid( char borderStyle ) { m_BorderMid = borderStyle; } + char border_mid() const { return m_border_mid; } + void border_mid( char borderStyle ) { m_border_mid = borderStyle; } - char borderMidMid() const { return m_BorderMidMid; } - void borderMidMid( char borderStyle ) { m_BorderMidMid = borderStyle; } + char border_mid_mid() const { return m_border_mid_mid; } + void border_mid_mid( char borderStyle ) { m_border_mid_mid = borderStyle; } - char borderRight() const { return m_BorderRight; } - void borderRight( char borderStyle ) { m_BorderRight = borderStyle; } + char border_right() const { return m_border_right; } + void border_right( char borderStyle ) { m_border_right = borderStyle; } - char borderRightMid() const { return m_BorderRightMid; } - void borderRightMid( char borderStyle ) { m_BorderRightMid = borderStyle; } + char border_right_mid() const { return m_border_right_mid; } + void border_right_mid( char borderStyle ) { m_border_right_mid = borderStyle; } - char borderMiddle() const { return m_BorderMiddle; } - void borderMiddle( char borderStyle ) { m_BorderMiddle = borderStyle; } + char border_middle() const { return m_border_middle; } + void border_middle( char borderStyle ) { m_border_middle = borderStyle; } - integer paddingLeft() const { return m_PaddingLeft; } - void paddingLeft( integer padding ) { m_PaddingLeft = padding; } + integer padding_left() const { return m_padding_left; } + void padding_left( integer padding ) { m_padding_left = padding; } - integer paddingRight() const { return m_PaddingRight; } - void paddingRight( integer padding ) { m_PaddingRight = padding; } + integer padding_right() const { return m_padding_right; } + void padding_right( integer padding ) { m_padding_right = padding; } Alignment alignment() const { return m_Align; } - void alignment( Alignment align ) { m_Align = align; } + void alignment( Alignment align ) { m_Align = align; } integer width() const { return m_Width; } - void width( integer width ) { m_Width = width; } + void width( integer width ) { m_Width = width; } }; class Cell { private: - Table * m_Table = nullptr; - string m_Value = ""; - Alignment m_Align = Alignment::LEFT; - integer m_ColSpan = 1; - integer m_Width = 0; + Table * m_Table = nullptr; + string m_Value = ""; + Alignment m_Align = Alignment::LEFT; + integer m_col_span = 1; + integer m_Width = 0; public: @@ -170,8 +170,8 @@ namespace Utils { Cell( Table* table, - string const & val = "", - integer colSpan = 1 + string const & val = "", + integer col_span = 1 ); string const & value() const { return m_Value; } @@ -180,16 +180,16 @@ namespace Utils { Alignment alignment() const { return m_Align; } void alignment( Alignment align ) { m_Align = align; } - integer colSpan() const { return m_ColSpan; } - void colSpan( integer colSpan ) { m_ColSpan = colSpan; } + integer col_span() const { return m_col_span; } + void col_span( integer col_span ) { m_col_span = col_span; } integer width( integer col ) const; integer height() const; - integer maxLineWidth() const; + integer maximum_line_width() const; string line( integer idx ) const; - void trimLine( string & line ) const; + void trim_line( string & line ) const; string render( integer line, integer col ) const; }; @@ -216,9 +216,9 @@ namespace Utils { //vecCell & cells() { return m_Cells; } void cells( vecstr const & cells ); - integer numCells() const { return integer(m_Cells.size()); } - integer cellWidth( integer idx ) const; - void cellColSpan( integer idx, integer span ); + integer num_cells() const { return integer(m_Cells.size()); } + integer cell_width( integer idx ) const; + void cell_col_span( integer idx, integer span ); void cell( string const & value ); //Cell& cell( integer idx ) { return m_Cells[idx]; } @@ -266,15 +266,15 @@ namespace Utils { this->rows(rows); } - void alignColumn( integer n, Alignment align ); - void addRow( vecstr const & row ); + void align_column( integer n, Alignment align ); + void add_row( vecstr const & row ); - integer cellSpacing() const; - integer cellPadding() const; + integer cell_spacing() const; + integer cell_padding() const; vecCell column( integer n ) const; - integer columnWidth( integer n ) const; - integer numColumns() const; + integer column_width( integer n ) const; + integer num_columns() const; Style const & style() const { return m_Style; } @@ -301,7 +301,7 @@ namespace Utils { void rows( vecvecstr const & rows ); string - renderSeparator( + render_separator( char const left, char const mid, char const right, diff --git a/toolbox/src/Utils/Trace.hxx b/toolbox/src/Utils/Trace.hxx index c202a545..bdb77105 100644 --- a/toolbox/src/Utils/Trace.hxx +++ b/toolbox/src/Utils/Trace.hxx @@ -110,13 +110,24 @@ namespace Utils { typedef basic_ostream ostream_type; void - printTrace( + print_trace( int line, char const * const file, string const & msg, ostream_type & stream ); + inline + void + printTrace( + int line, + char const * const file, + string const & msg, + ostream_type & stream + ) { + print_trace( line, file, msg, stream ); + } + class Runtime_TraceError : public runtime_error { private: string diff --git a/toolbox/src/Utils/Utils.hxx b/toolbox/src/Utils/Utils.hxx index c598a4bd..c81cd06c 100644 --- a/toolbox/src/Utils/Utils.hxx +++ b/toolbox/src/Utils/Utils.hxx @@ -126,7 +126,7 @@ namespace Utils { template void - searchInterval( + search_interval( T_int npts, T_real const * const X, T_real & x, @@ -136,7 +136,7 @@ namespace Utils { ); #ifndef DOXYGEN_SHOULD_SKIP_THIS - extern template void searchInterval( + extern template void search_interval( int32_t npts, float const * const X, float & x, @@ -145,7 +145,7 @@ namespace Utils { bool can_extend ); - extern template void searchInterval( + extern template void search_interval( int32_t npts, double const * const X, double & x, @@ -154,7 +154,7 @@ namespace Utils { bool can_extend ); - extern template void searchInterval( + extern template void search_interval( int64_t npts, float const * const X, float & x, @@ -163,7 +163,7 @@ namespace Utils { bool can_extend ); - extern template void searchInterval( + extern template void search_interval( int64_t npts, double const * const X, double & x, @@ -173,6 +173,20 @@ namespace Utils { ); #endif + template + inline + void + searchInterval( + T_int npts, + T_real const * const X, + T_real & x, + T_int & lastInterval, + bool closed, + bool can_extend + ) { + search_interval( npts, X, x, lastInterval, closed, can_extend ); + } + static inline void diff --git a/toolbox/src/Utils/zstr/zstr.hpp b/toolbox/src/Utils/zstr/zstr.hpp index 8e98ddcb..709f0af7 100644 --- a/toolbox/src/Utils/zstr/zstr.hpp +++ b/toolbox/src/Utils/zstr/zstr.hpp @@ -380,7 +380,7 @@ class istream { exceptions(std::ios_base::badbit); } - virtual ~istream() + ~istream() override { delete rdbuf(); } @@ -401,7 +401,7 @@ class ostream { exceptions(std::ios_base::badbit); } - virtual ~ostream() + ~ostream() override { delete rdbuf(); }