QuadraticCurve.hpp File Reference

A quadratic curve. More...

#include <rw/geometry/OBB.hpp>
#include <rw/geometry/analytic/ParametricCurve.hpp>
#include <rw/math/Vector3D.hpp>

Classes
class	QuadraticCurve
	A quadratic curve. More...

Namespaces
	rw
	Deprecated namespace since 16/4-2020 for this class.
	rw::geometry
	Loading and storing of CAD models.

Detailed Description

A quadratic curve.

A quadratic curve is given explicitly by the expression \( \mathbf{p} = \mathbf{c} + r(t) \mathbf{u} + s(t) \mathbf{v} \) where \( \mathbf{c},\mathbf{u},\mathbf{v},\mathbf{p} \in \mathbb{R}^3 \) and \( \mathbf{u}^T \mathbf{v} = 0\) .

The following four types of curves are possible:

• Ellipse: \( (r,s)=(\sin t,\cos t) \)
• Hyperbola: \( (r,s)=(\sinh t,\cosh t) \)
• Line: \( (r,s)=(t,0) \)
• Parabola: \( (r,s)=(t,t^2) \)