Class Description

The class representing a spline compounded of oriented circle arcs and straight line segments.

This is namely used to store a mid-term trajectory to drive a bot within a Channel in SplineTrajectory.

Public Member Functions
const CircleArcSplineSection &	GetSection (KyUInt32 index) const

const Vec3f &	GetStartPosition () const

const Vec3f &	GetEndPosition () const

KyUInt32	GetLastSectionIndex () const

const CircleArcSplineSection &	GetLastSection () const

Vec2f	ComputeStartTangent () const

Vec2f	ComputeEndTangent () const

For internal use only
KyArray< CircleArcSplineSection >	m_sections

KyResult	KeepSplineBetween (const Vec3f &newStartPosition, KyUInt32 newStartArcIndex, SplineCutMode startCutMode, KyUInt32 newStartSectionIdx, const Vec3f &newEndPosition, KyUInt32 newEndArcIndex, SplineCutMode endCutMode, KyUInt32 newEndSectionIdx)

void	Append (const KyArray< CircleArcSplineSection > &sections)

void	Reset (const KyArray< CircleArcSplineSection > &sections)

void	PushBack (const CircleArcSplineSection &sections)

const KyArray< CircleArcSplineSection > &	GetSectionArray () const

Member Function Documentation

Vec2f Kaim::CircleArcSpline::ComputeEndTangent ( ) const

inline

Precondition: First ensure CircleArcSpline is not empty before calling this function, it does not check it.

Vec2f Kaim::CircleArcSpline::ComputeStartTangent ( ) const

inline

Precondition: First ensure CircleArcSpline is not empty before calling this function, it does not check it.

const Vec3f & Kaim::CircleArcSpline::GetEndPosition ( ) const

inline

Precondition: First ensure CircleArcSpline is not empty before calling this function, it does not check it.

const CircleArcSplineSection & Kaim::CircleArcSpline::GetLastSection ( ) const

inline

Precondition: First ensure CircleArcSpline is not empty before calling this function, it does not check it.

KyUInt32 Kaim::CircleArcSpline::GetLastSectionIndex ( ) const

inline

Precondition: First ensure CircleArcSpline is not empty before calling this function, it does not check it.

const CircleArcSplineSection & Kaim::CircleArcSpline::GetSection ( KyUInt32 index ) const

inline

Precondition: First ensure CircleArcSpline is not empty before calling this function, it does not check it.

const Vec3f & Kaim::CircleArcSpline::GetStartPosition ( ) const

inline

Precondition: First ensure CircleArcSpline is not empty before calling this function, it does not check it.

The documentation for this class was generated from the following files: