1x-technologies / Bezier

Fast and lightweight class for Bezier curves of any order in C++

Bezier

Fast and lightweight class for using the Bezier curves of any order in C++

Algorithm implementations are based on A Primer on Bezier Curves by Pomax

Key Features

• Any number of control points
• Fast operations on curves
• Dynamic manipulation
• Composite Bezier curves (polycurves)

CMake find_package() compatible!

find_package(Bezier)
target_link_libraries(target bezier)

Implemented methods

• Get value, derivative, curvature, tangent and normal for parameter t
• Get t from projection any point onto a curve
• Get precise length for any part of curve
• Get a derivative curve (hodograph)
• Split into two subcurves
• Find curve roots and bounding box
• Find points of intersection with another curve
• Elevate/lower order
• Apply parametric and geometric continuities
• etc.

Wish list

- [ ] Polycurve - oversee continuities between consecutive sub-curves
- [ ] Polycurve - propagation of sub-curve manipulation depending on continutiy
- [ ] Bezier shapes
- [ ] More sophisticated example

Dependencies

• c++11
• Eigen3

Instalation

System-wide installation

git clone https://github.com/romb-technologies/Bezier
mkdir Bezier/build
cd Bezier/build
cmake ..
make
make install

ROS

• for use within a ROS workspace without the system-wide installation, clone the repo to src folder in you catkin workspace

Example program [OUTDATED]

A small Qt5 based program written as a playground for manipulating Bezier curves.

• press H for a list of possible actions

Additional dependencies

• qt5-default

Licence

Apache License Version 2.0