plotG(vx,vy,char,size,color) ... Hermite Polyline modules

af9e625f-3aae-4d88-bd52-52ee53c7d8d9 2 4 5 decimal

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Hermite smooth travel

vx vy char size color plotG n vx length : plot vx 1 el vy 1 el char size color augment : i 2 n range plot plot vx i el vy i el char size color augment stack : for plot 41 line :

z n RepEnd m z rows : i 1 n range w i el z 1 el : for i n 1 + (m n + (range w i el z i n - el : for i m n + 1 + (m 2 n * + (range w i el z m el : for w 51 line :

data Strip nest stripped in 'R' u data 1 col : v data 2 col : k 0 : i 1 data rows 1 - range v i 1 + el v i el ≤ (v i 1 + el v i el ≥ (¤ R k k 1 + : el u i el v i el 12 mat : 11 line Undefined if 11 line for 21 line Un-nest R v R 1 el : j 2 R rows range v v R j el stack : for v 81 line :

M Unwrap V M 1 col : i 2 M cols range V V M i col stack : for V 31 line :

data sub subspace j 1 data rows 1 - (range Vsub j el i 1 sub range vx i el data j el i sub / data 1 j + el data j el - (* + : for vx 21 line eval : 11 line for v Vsub 1 el : j 2 Vsub rows range v v Vsub j el stack : for v 31 line 21 line :

Round OFF Matrix/Vector M n Round i 1 M rows range m i el M i el n round : for m 21 line :

user original polygon Xo 0241363306015 mat transpose : Yo 5396363416315371685 - 15 mat transpose : 21 sys

sub 3 :

sub adjust convex

New Xo sub subspace Yo sub subspace augment : New Xo 1 el Yo 1 el 12 mat New stack : 21 line

isolate New New :

X New 1 col : Y New 2 col : 21 line

t 01 0.05 range :

<= populate for more points at will

Polyline construct

r 2 : X X r RepEnd : Y Y r RepEnd : 31 sys

x c 10 x ≤ (x 1 ≤ (& cases :

interpolate 16 / t 3^- 3 t 2^* + 2 t * - 3 t 3^* 6 t 2^* - 3 t * - 6 + 3 t 3^* - 3 t 2^* + 6 t * + t 3^t - 41 mat *

Hermite PolyLine t P 16 / t 3^- 3 t 2^* + 3 t * - 1 + (3 t 3^* 6 t 2^* - 4 + (3 t 3^* - 3 t 2^* + 3 t * + 1 + (t 3^41 mat * :

Hermite basis cubics 0...1

x P 1 el x c * x P 2 el x c * x P 3 el x c * x P 4 el x c * 4 1 sys

polyline 16 / t 3^- 3 t 2^* + 3 t * - 1 + (3 t 3^* 6 t 2^* - 4 + (3 t 3^* - 3 t 2^* + 3 t * + 1 + (t 3^41 mat *

t j XP t P 1 el X j el * t P 2 el X j 1 + el * + t P 3 el X j 2 + el * + t P 4 el X j 3 + el * + : t j YP t P 1 el Y j el * t P 2 el Y j 1 + el * + t P 3 el Y j 2 + el * + t P 4 el Y j 3 + el * + : 21 sys

U j 1 X rows r 1 + (- (range : ct 1 : j j i 1 t rows range Hx i ct el t i el j XP eval : for ct ct 1 + : 21 line for Hx 41 line :

V j 1 X rows r 1 + (- (range : ct 1 : j j i 1 t rows range Hy i ct el t i el j YP eval : for ct ct 1 + : 21 line for Hy 41 line :

collect the project xy U Unwrap V Unwrap augment : contour xy Strip : 21 sys

p contour rows : 280

XY X Y o 7 red plotG : XoYo Xo Yo + 15 black plotG : hi contour 1 p 2 / range 12 range el : lo contour p 2 / p range 12 range el : 41 line

vx hi 1 col : vy hi 2 col : 12 mat ux lo 1 col : uy lo 2 col : 12 mat x upperbranch vx vy x ainterp : x lowerbranch ux uy x ainterp : 41 line

user interpolate U 128 :

U upperbranch U lowerbranch 21 mat 4460756 - 21 mat

x lowerbranch 0 ≡ x 196256 solve 232

Xo Yo augment contour XoYo U U upperbranch . 20 black 1 5 mat U U lowerbranch . 20 black 1 5 mat 5 1 sys