core / com.acmerobotics.roadrunner.path.heading / HeadingInterpolator

HeadingInterpolator

abstract class HeadingInterpolator

Interpolator for specifying the heading for holonomic paths.

Constructors

HeadingInterpolator()

Interpolator for specifying the heading for holonomic paths.

Properties

parametricCurve

lateinit var parametricCurve: ParametricCurve

Functions

deriv	`abstract fun deriv(displacement: Double): Double` Returns the heading derivative at the specified displacement.
end	`fun end(): Double` Returns the end heading.
endDeriv	`fun endDeriv(): Double` Returns the end heading derivative.
endSecondDeriv	`fun endSecondDeriv(): Double` Returns the end heading second derivative.
get	`abstract operator fun get(displacement: Double): Double` Returns the heading at the specified displacement.
init	`open fun init(parametricCurve: ParametricCurve): Unit` Initialize the interpolator with a parametricCurve.
respectsDerivativeContinuity	`abstract fun respectsDerivativeContinuity(): Boolean` 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 TangentInterpolator.
secondDeriv	`abstract fun secondDeriv(displacement: Double): Double` Returns the heading second derivative at the specified displacement.
start	`fun start(): Double` Returns the start heading.
startDeriv	`fun startDeriv(): Double` Returns the start heading derivative.
startSecondDeriv	`fun startSecondDeriv(): Double` Returns the start heading second derivative.

Inheritors

ConstantInterpolator	`class ConstantInterpolator : HeadingInterpolator` Constant heading interpolator used for arbitrary holonomic translations.
LinearInterpolator	`class LinearInterpolator : HeadingInterpolator` Linear heading interpolator for time-optimal transitions between poses.
SplineInterpolator	`class SplineInterpolator : HeadingInterpolator` Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).
TangentInterpolator	`class TangentInterpolator : HeadingInterpolator` Tangent (system) interpolator for tank/differential and other nonholonomic drives.
WiggleInterpolator	`class WiggleInterpolator : HeadingInterpolator` Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.