HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.HeadingInterpolator

Direct Known Subclasses:

ConstantInterpolator, LinearInterpolator, SplineInterpolator, TangentInterpolator, WiggleInterpolator
```
public class HeadingInterpolator
```
Interpolator for specifying the heading for holonomic paths.

Field Summary

Fields
Modifier and Type Field and Description

ParametricCurve parametricCurve

Fields
Modifier and Type	Field and Description
`ParametricCurve`	`parametricCurve`

Constructor Summary

Constructors
Constructor and Description

HeadingInterpolator()
Interpolator for specifying the heading for holonomic paths.

Constructors
Constructor and Description
`HeadingInterpolator()` Interpolator for specifying the heading for holonomic paths.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`deriv(double displacement)` Returns the heading derivative at the specified displacement.
`double`	`end()` Returns the end heading.
`double`	`endDeriv()` Returns the end heading derivative.
`double`	`endSecondDeriv()` Returns the end heading second derivative.
`double`	`get(double displacement)` Returns the heading at the specified displacement.
`ParametricCurve`	`getParametricCurve()`
`void`	`init(ParametricCurve parametricCurve)` Initialize the interpolator with a parametricCurve.
`boolean`	`respectsDerivativeContinuity()` Returns true if the heading interpolator respects derivative continuity at path segment endpoints. That is, the start and end heading derivatives match those of the `class TangentInterpolator`.
`double`	`secondDeriv(double displacement)` Returns the heading second derivative at the specified displacement.
`void`	`setParametricCurve(ParametricCurve p)`
`double`	`start()` Returns the start heading.
`double`	`startDeriv()` Returns the start heading derivative.
`double`	`startSecondDeriv()` Returns the start heading second derivative.

- Field Detail
  - parametricCurve
```
public ParametricCurve parametricCurve
```
- Constructor Detail
  - HeadingInterpolator
```
public HeadingInterpolator()
```
    Interpolator for specifying the heading for holonomic paths.
- Method Detail
  - getParametricCurve
```
public ParametricCurve getParametricCurve()
```
  - setParametricCurve
```
public void setParametricCurve(ParametricCurve p)
```
  - init
```
public void init(ParametricCurve parametricCurve)
```
    Initialize the interpolator with a parametricCurve.
    
    Parameters:
    
    parametricCurve - parametric curve
  - respectsDerivativeContinuity
```
public boolean respectsDerivativeContinuity()
```
    Returns true if the heading interpolator respects derivative continuity at path segment endpoints. That is, the start and end heading derivatives match those of the class TangentInterpolator.
    
    Returns:
    
    true if derivatives match class TangentInterpolator
    
    See Also:
    
    class TangentInterpolator
  - get
```
public double get(double displacement)
```
    Returns the heading at the specified displacement.
  - deriv
```
public double deriv(double displacement)
```
    Returns the heading derivative at the specified displacement.
  - secondDeriv
```
public double secondDeriv(double displacement)
```
    Returns the heading second derivative at the specified displacement.
  - start
```
public double start()
```
    Returns the start heading.
  - startDeriv
```
public double startDeriv()
```
    Returns the start heading derivative.
  - startSecondDeriv
```
public double startSecondDeriv()
```
    Returns the start heading second derivative.
  - end
```
public double end()
```
    Returns the end heading.
  - endDeriv
```
public double endDeriv()
```
    Returns the end heading derivative.
  - endSecondDeriv
```
public double endSecondDeriv()
```
    Returns the end heading second derivative.

Class HeadingInterpolator

Field Summary

Constructor Summary

Method Summary

Field Detail

parametricCurve

Constructor Detail

HeadingInterpolator

Method Detail

getParametricCurve

setParametricCurve

init

respectsDerivativeContinuity

get

deriv

secondDeriv

start

startDeriv

startSecondDeriv

end

endDeriv

endSecondDeriv