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Implement signed curvature #355

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merged 2 commits into from
Oct 25, 2024
Merged

Implement signed curvature #355

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4d9860c
Implement signed curvature
johannes-fischer Aug 1, 2024
fee0a1f
Merge branch 'master' into fischer/signed_curvature_feature
johannes-fischer Oct 25, 2024
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12 changes: 12 additions & 0 deletions lanelet2_core/include/lanelet2_core/geometry/LineString.h
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,18 @@ double signedDistance(const LineString2dT& lineString, const BasicPoint2d& p);
template <typename Point2dT>
double curvature2d(const Point2dT& p1, const Point2dT& p2, const Point2dT& p3);

/**
* Calculate the signed curvature value given 3 consecutive points.
* The signed curvature value is positive if the consecutive points describe a left turn, negative otherwise.
*
* @param p1, p2, p3 are the points
* @return curvature value.
*
* If any 2 of the 3 points duplicate, return infinity.
*/
template <typename Point2dT>
double signedCurvature2d(const Point2dT& p1, const Point2dT& p2, const Point2dT& p3);

/**
*
* @brief Transform a point to the coordinates of the linestring
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7 changes: 6 additions & 1 deletion lanelet2_core/include/lanelet2_core/geometry/impl/LineString.h
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Expand Up @@ -703,6 +703,11 @@ double signedDistance(const LineString2dT& lineString, const BasicPoint2d& p) {

template <typename Point2dT>
double curvature2d(const Point2dT& p1, const Point2dT& p2, const Point2dT& p3) {
return std::fabs(signedCurvature2d(p1, p2, p3));
}

template <typename Point2dT>
double signedCurvature2d(const Point2dT& p1, const Point2dT& p2, const Point2dT& p3) {
// see https://en.wikipedia.org/wiki/Menger_curvature#Definition
const double area = 0.5 * ((p2.x() - p1.x()) * (p3.y() - p1.y()) - (p2.y() - p1.y()) * (p3.x() - p1.x()));
const double side1 = distance(p1, p2);
Expand All @@ -712,7 +717,7 @@ double curvature2d(const Point2dT& p1, const Point2dT& p2, const Point2dT& p3) {
if (product < 1e-20) {
return std::numeric_limits<double>::infinity();
}
return std::fabs(4 * area / product);
return 4 * area / product;
}

template <typename LineString2dT>
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6 changes: 6 additions & 0 deletions lanelet2_core/test/test_linestring.cpp
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Expand Up @@ -413,6 +413,12 @@ TYPED_TEST(AllLineStringsTest, segmentsInverse) { // NOLINT
TYPED_TEST(TwoDPointsTest, checkCurvature) {
EXPECT_DOUBLE_EQ(1., geometry::curvature2d(this->p1, this->p2, this->p3));
EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), geometry::curvature2d(this->p1, this->p2, this->p4));
EXPECT_DOUBLE_EQ(1., geometry::curvature2d(this->p3, this->p2, this->p1));
EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), geometry::curvature2d(this->p3, this->p2, this->p4));
EXPECT_DOUBLE_EQ(1., geometry::signedCurvature2d(this->p1, this->p2, this->p3));
EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), geometry::signedCurvature2d(this->p1, this->p2, this->p4));
EXPECT_DOUBLE_EQ(-1., geometry::signedCurvature2d(this->p3, this->p2, this->p1));
EXPECT_DOUBLE_EQ(std::numeric_limits<double>::infinity(), geometry::signedCurvature2d(this->p3, this->p2, this->p4));
}

TYPED_TEST(TwoDLineStringsTest, signedDistance) { // NOLINT
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6 changes: 6 additions & 0 deletions lanelet2_python/python_api/geometry.cpp
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Expand Up @@ -288,6 +288,12 @@ BOOST_PYTHON_MODULE(PYTHON_API_MODULE_NAME) { // NOLINT
def("area", boost::geometry::area<BasicPolygon2d>);
def("area", boost::geometry::area<ConstHybridPolygon2d>);

def("curvature2d", lg::curvature2d<BasicPoint2d>);
def("curvature2d", lg::curvature2d<ConstPoint2d>);

def("signedCurvature2d", lg::signedCurvature2d<BasicPoint2d>);
def("signedCurvature2d", lg::signedCurvature2d<ConstPoint2d>);

class_<ArcCoordinates>("ArcCoordinates", "Coordinates along an arc", no_init)
.def("__init__", make_constructor(
+[](double length, double distance) {
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