Bezier

Fast and lightweight class for using the Bezier curves of any order in C++

Some algorithm implementations are based on A Primer on Bezier Curves by Pomax

Key Features

Any number of control points
Fast operations on curves
Dynamic manipulation
Composite Bezier curves (polycurves)

CMake find_package() compatible!

find_package(Bezier)
target_link_libraries(target bezier)

Implemented methods

Get value, derivative, curvature, tangent and normal for a parameter t
Point projection onto curve
Get curve length, parameter iteration by length
Get a derivative curve (hodograph)
Split into subcurves
Find curve roots, extrema and bounding box
Find points of intersection
Elevate/lower order
Apply parametric and geometric continuities
etc.

Wish list

Polycurve - oversee continuities between consecutive sub-curves
Polycurve - propagation of sub-curve manipulation depending on continutiy
Bezier shapes
More sophisticated example

Dependencies

Eigen3.3

Instalation

System-wide installation

git clone https://github.com/romb-technologies/Bezier
mkdir Bezier/build
cd Bezier/build
cmake ..
make
make install

ROS

for use within a ROS workspace without the system-wide installation, clone the repo to src folder in you catkin workspace

Example program

A small Qt5 based program written as a playground for manipulating Bezier curves.

press H for a list of possible actions
outdated - newer features are not used in the example application

Additional dependencies

qt5-default

Licence

Apache License Version 2.0

Credit

The development of this software was in part supported by the European Cohesion Fund, through grant number KK.03.2.2.04.314 "Software modules for advanced autonomous motion of load-transportation vehicles (Soft4AGV)" of the "Innovations of newly established SMEs - phase 2" open call.