refactor: improve naming + remove unused functions; rename CubicSpline to CubicProfile since it's not a spline, change function names to more common and correct naming

Author: pageldev

include/CubicBezier.hpp

@@ -18,8 +18,8 @@ struct CubicBezier
     CubicBezier() = default;
     CubicBezier(std::array<Vec<T, Dim>, 4> control_points);
 
-    Vec<T, Dim>                get(const T t) const;
-    Vec<T, Dim>                get_grad(const T t) const;
+    Vec<T, Dim>                evaluate(const T t) const;
+    Vec<T, Dim>                derivative(const T t) const;
     T                          get_t(const T arclen) const;
     T                          get_length() const;
     std::array<Vec<T, Dim>, 4> get_subcurve(const T t_start, const T t_end) const;
@@ -89,8 +89,8 @@ CubicBezier<T, Dim>::CubicBezier(std::array<Vec<T, Dim>, 4> control_points) : co
     T arclen(0);
     for (auto t_val_iter = std::next(t_vals.begin()); t_val_iter != t_vals.end(); t_val_iter++)
     {
-        const Vec<T, Dim> pt_prev = this->get(*std::prev(t_val_iter));
-        const Vec<T, Dim> pt = this->get(*t_val_iter);
+        const Vec<T, Dim> pt_prev = this->evaluate(*std::prev(t_val_iter));
+        const Vec<T, Dim> pt = this->evaluate(*t_val_iter);
         arclen += euclDistance(pt, pt_prev);
         this->arclen_t[arclen] = *t_val_iter;
     }
@@ -99,7 +99,7 @@ CubicBezier<T, Dim>::CubicBezier(std::array<Vec<T, Dim>, 4> control_points) : co
 }
 
 template<typename T, std::size_t Dim>
-Vec<T, Dim> CubicBezier<T, Dim>::get(const T t) const
+Vec<T, Dim> CubicBezier<T, Dim>::evaluate(const T t) const
 {
     Vec<T, Dim> out_pt;
     for (std::size_t dim = 0; dim < Dim; dim++)
@@ -142,7 +142,7 @@ T CubicBezier<T, Dim>::get_length() const
 }
 
 template<typename T, std::size_t Dim>
-Vec<T, Dim> CubicBezier<T, Dim>::get_grad(const T t) const
+Vec<T, Dim> CubicBezier<T, Dim>::derivative(const T t) const
 {
     std::array<Vec<T, Dim>, 4> coefficients = this->get_coefficients(this->control_points);
 
@@ -156,7 +156,7 @@ Vec<T, Dim> CubicBezier<T, Dim>::get_grad(const T t) const
 template<typename T, std::size_t Dim>
 std::array<Vec<T, Dim>, 4> CubicBezier<T, Dim>::get_subcurve(const T t_start, const T t_end) const
 {
-    /* modified get(T t) allowing different t values for segments */
+    /* modified evaluate(T t) allowing different t values for segments */
     auto f_cubic_t123 = [](const T& t1, const T& t2, const T& t3, const std::array<Vec<T, Dim>, 4>& ctrl_pts) -> Vec<T, Dim>
     {
         Vec<T, Dim> out;

include/Geometries/Arc.h

@@ -15,7 +15,7 @@ struct Arc : public RoadGeometry
     std::unique_ptr<RoadGeometry> clone() const override;
 
     Vec2D get_xy(double s) const override;
-    Vec2D get_grad(double s) const override;
+    Vec2D derivative(double s) const override;
 
     std::set<double> approximate_linear(double eps) const override;
 

include/Geometries/CubicSpline.h

@@ -6,44 +6,44 @@
 namespace odr
 {
 
-struct Poly3
+struct CubicPoly
 {
-    Poly3() = default;
-    Poly3(double s0, double a, double b, double c, double d);
+    CubicPoly() = default;
+    CubicPoly(double a, double b, double c, double d, double s_origin = 0.0); // constructs a global cubic from local coefficients in (s - s_origin)
 
-    double get(double s) const;
-    double get_grad(double s) const;
-    double get_max(double s_start, double s_end) const;
-    void   negate();
-    bool   is_zero() const;
-    void   set_zero();
-    bool   isnan() const;
+    double evaluate(const double s) const;
+    double derivative(const double s) const;
+    double max_value(const double s_start, const double s_end) const;
 
-    std::set<double> approximate_linear(double eps, double s_start, double s_end) const;
+    void negate();
+    bool is_zero() const;
+    void set_zero();
+    bool isnan() const;
+
+    std::set<double> approximate_linear(const double eps, const double s_start, const double s_end) const;
 
     double a = 0;
     double b = 0;
     double c = 0;
     double d = 0;
 };
 
-struct CubicSpline
+struct CubicProfile
 {
-    CubicSpline() = default;
+    CubicProfile() = default;
+
+    double evaluate(const double s, const double default_val = 0.0, const bool extend_start = true) const;
+    double derivative(const double s, const double default_val = 0.0, const bool extend_start = true) const;
+    double max_value(const double s_start, const double s_end) const;
 
-    double get(double s, double default_val = 0.0, bool extend_start = true) const;
-    double get_grad(double s, double default_val = 0.0, bool extend_start = true) const;
-    double get_max(double s_start, double s_end) const;
-    Poly3  get_poly(double s, bool extend_start = true) const;
+    CubicPoly get_poly(const double s, const bool extend_start = true) const;
 
-    bool        empty() const;
-    std::size_t size() const;
-    CubicSpline negate() const;
-    CubicSpline add(const CubicSpline& other) const;
+    [[nodiscard]] CubicProfile negate() const;
+    [[nodiscard]] CubicProfile add(const CubicProfile& other) const;
 
     std::set<double> approximate_linear(double eps, double s_start, double s_end) const;
 
-    std::map<double, Poly3> s0_to_poly;
+    std::map<double /* s0 */, CubicPoly> segments;
 };
 
 } // namespace odr

include/Geometries/Line.h

@@ -15,7 +15,7 @@ struct Line : public RoadGeometry
     std::unique_ptr<RoadGeometry> clone() const override;
 
     Vec2D get_xy(double s) const override;
-    Vec2D get_grad(double s) const override;
+    Vec2D derivative(double s) const override;
 
     std::set<double> approximate_linear(double eps) const override;
 };

include/Geometries/ParamPoly3.h

@@ -29,7 +29,7 @@ struct ParamPoly3 : public RoadGeometry
     std::unique_ptr<RoadGeometry> clone() const override;
 
     Vec2D get_xy(double s) const override;
-    Vec2D get_grad(double s) const override;
+    Vec2D derivative(double s) const override;
 
     std::set<double> approximate_linear(double eps) const override;
 

include/Geometries/RoadGeometry.h

@@ -15,7 +15,7 @@ struct RoadGeometry
     virtual std::unique_ptr<RoadGeometry> clone() const = 0;
 
     virtual Vec2D get_xy(double s) const = 0;
-    virtual Vec2D get_grad(double s) const = 0;
+    virtual Vec2D derivative(double s) const = 0;
 
     virtual std::set<double> approximate_linear(double eps) const = 0;
 

include/Geometries/Spiral.h

@@ -15,7 +15,7 @@ struct Spiral : public RoadGeometry
     std::unique_ptr<RoadGeometry> clone() const override;
 
     Vec2D get_xy(double s) const override;
-    Vec2D get_grad(double s) const override;
+    Vec2D derivative(double s) const override;
 
     std::set<double> approximate_linear(double eps) const override;
 

include/Lane.h

@@ -62,8 +62,8 @@ struct Lane
     std::optional<int> predecessor;
     std::optional<int> successor;
 
-    CubicSpline lane_width;
-    CubicSpline outer_border;
+    CubicProfile lane_width;
+    CubicProfile outer_border;
 
     std::map<double, HeightOffset> s_to_height_offset;
     std::set<RoadMarkGroup>        roadmark_groups;

include/RefLine.h

@@ -23,13 +23,13 @@ struct RefLine
     RoadGeometry*       get_geometry(const double s);
 
     Vec3D            get_xyz(const double s) const;
-    Vec3D            get_grad(const double s) const;
+    Vec3D            derivative(const double s) const;
     Line3D           get_line(const double s_start, const double s_end, const double eps) const;
     double           match(const double x, const double y) const;
     std::set<double> approximate_linear(const double eps, const double s_start, const double s_end) const;
 
-    double      length = 0;
-    CubicSpline elevation_profile;
+    double       length = 0;
+    CubicProfile elevation_profile;
 
     std::map<double, std::unique_ptr<RoadGeometry>> s0_to_geometry;
 };

include/Road.h

@@ -19,7 +19,7 @@ namespace odr
 struct Lane;
 struct RoadMark;
 
-struct Crossfall : public CubicSpline
+struct Crossfall : public CubicProfile
 {
     enum class Side
     {
@@ -121,10 +121,10 @@ class Road
     RoadLink                  successor;
     std::vector<RoadNeighbor> neighbors;
 
-    CubicSpline lane_offset;
-    CubicSpline superelevation;
-    Crossfall   crossfall;
-    RefLine     ref_line;
+    CubicProfile lane_offset;
+    CubicProfile superelevation;
+    Crossfall    crossfall;
+    RefLine      ref_line;
 
     std::map<double, LaneSection>     s_to_lanesection;
     std::map<double, std::string>     s_to_type;