yeranlee / clothoids

Clothoids

G1 and G2 fitting with clothoids, spline of clothods, circle arc and biarc

by Enrico Bertolazzi ([email protected]) and Marco Frego ([email protected])

for the documentation see online documentation

Installation

Download the library

git clone [email protected]:ebertolazzi/Clothoids.git —recurse-submodules

if you forget —recurse-submodules you must load the submdule quarticRootsFlocke next. To compile the library you can use make

make

or cmake

mkdir build
cd build
cmake ..
make

of rake

rake build_osx   # on mac
rake build_linux # on linux
rake build_win   # on windows

using make you have the library and headers in the following tree

`-- lib
    |-- include
    |   |-- AABBtree.hh
    |   |-- Biarc.hh
    |   |-- BiarcList.hh
    |   |-- Circle.hh
    |   |-- Clothoid.hh
    |   |-- ClothoidAsyPlot.hh
    |   |-- ClothoidList.hh
    |   |-- Fresnel.hh
    |   |-- G2lib.hh
    |   |-- Line.hh
    |   |-- PolyLine.hh
    |   |-- PolynomialRoots-Utils.hh
    |   |-- PolynomialRoots.hh
    |   `-- Triangle2D.hh
    `-- lib
        |-- libClothoids_OSTYPE.dylib
        `-- libClothoids_OSTYPE_static.a

where OSTYPE can be linux, osx, mingw_x64, win_x64

Online Documentation

Available at: http://ebertolazzi.github.io/Clothoids

References

1. E. Bertolazzi, M. Frego, G1 fitting with clothoids,
   Mathematical Methods in the Applied Sciences,
   John Wiley & Sons, 2014, vol. 38, n.5, pp. 881-897,
   [https://doi.org/10.1002/mma.3114] (https://doi.org/10.1002/mma.3114)

2. E. Bertolazzi, M. Frego, On the G2 Hermite interpolation problem with clothoids,
   Journal of Computational and Applied Mathematics,
   2018, vol. 15, n.341, pp. 99-116.
   [https://doi.org/10.1016/j.cam.2018.03.029] (https://doi.org/10.1016/j.cam.2018.03.029)

3. E. Bertolazzi, M. Frego, Interpolating clothoid splines with curvature continuity,
   Mathematical Methods in the Applied Sciences,
   2018, vol. 41, n.4, pp. 1099-1476.
   https://doi.org/10.1002/mma.4700

4. E. Bertolazzi, M. Frego A Note on Robust Biarc Computation,
   Computer-Aided Design & Applications 16 (5), 822-835
   [http://www.cad-journal.net/files/vol_16/CAD_16(5)_2019_822-835.pdf] (http://www.cad-journal.net/files/vol_16/CAD_16(5)_2019_822-835.pdf)