/SmoothCurves.jl

Smooth curves suitable for mobile robots.

Primary LanguageJulia

SmoothCurves.jl

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Create smooth curves from basic curve types.

Demo plot

Implemented basic curves:

  • Line
  • ArcSegment
  • Clothoid
  • PolyCurve

All curves C are parametrized ba a parameter s in the interval [0, smax].

Curve Interface:

  • smax(C)
  • length(C)
  • length(C, s)
  • dlength(C, s)
  • tangentangle(C, s)
  • radialangle(C, s)
  • curvature(C, s)
  • dcurvature(C, s)
  • point(C, s)
  • startpoint(C)
  • endpoint(C)
  • dpoint(C, s)
  • samples(C, e)

All derivatives are given in respect to the parameter s.