private void PlotCurveManeuver(List <GPoint> points, double curveLength, int degree)
{
if (points.Count < 2)
{
return;
}
double scale = (CurvatureUnit == CurvatureUnit.Centimeter) ? 0.01 : 1.0; // 1/cm or 1/m
List <GPoint> curvatures = new List <GPoint>();
NURBSCurve bspline = new NURBSCurve(points, degree);
for (double u = 0.01; u < 1.0 - 0.01; u += 0.01)
{
double curvature = bspline.Curvature(u);
double distanceFromStart = curveLength * u;
curvatures.Add(new GPoint(u * 100.0, curvature * scale, weight: distanceFromStart));
}
List <GPoint> simplified = SimplifyPolyline(curvatures, CurveManeuverParameter.CurveMinDistance);
List <GPoint> curvaturManeuvers = PolylineSimplication.SimplifyHeadingChange(simplified.ToArray(), CurveManeuverParameter.YTolerance);
List <GPoint> maneuvers = new List <GPoint>();
foreach (var p in curvaturManeuvers)
{
int index = Weight2Index(p, curveLength, points.Count);
maneuvers.Add(points[index]);
}
AddScatterSeries(maneuvers, "Maneuvers");
}
private void PlotBSplineRawCurvatureByNURBS(List <GPoint> points, double curvelength)
{
// curvature
base.Axes.Add(new OxyPlot.Axes.LinearAxis
{
Title = (CurvatureUnit == CurvatureUnit.Meter) ? "Curvature(1/m)" : "Curvature(1/cm)",
Position = OxyPlot.Axes.AxisPosition.Left
});
AddZeroLineAnnotation();
int degree = SplineDegree(points);
OxyPlot.Series.LineSeries ls = new OxyPlot.Series.LineSeries()
{
MarkerType = ShowMarker ? MarkerType.None : MarkerType.Plus,
MarkerStroke = OxyPlot.OxyColors.Blue
};
List <GPoint> curvatures = new List <GPoint>();
double duration = Util.Util.MeasureExecTime(() =>
{
double scale = (CurvatureUnit == CurvatureUnit.Centimeter) ? 0.01 : 1.0; // 1/cm or 1/m
NURBSCurve bspline = new NURBSCurve(points, degree);
for (double u = 0.01; u < 1.0 - 0.01; u += 0.01)
{
double curvature = bspline.Curvature(u) * scale;
double dist = curvelength * u;
ls.Points.Add(new OxyPlot.DataPoint(dist, curvature));
curvatures.Add(new GPoint(dist, curvature, weight: dist));
}
});
ls.Title = $"NURBS({degree}) Curvature({duration:0.###}ms)";
base.Series.Add(ls);
PlotSimplifiedPolyline(curvatures);
PlotManeuverOnCurvatureCurve(curvatures);
}
