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

SplineInterpolator

class SplineInterpolator : HeadingInterpolator

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Constructors

<init>

SplineInterpolator(startHeading: Double, endHeading: Double)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Inherited Properties

parametricCurve

lateinit var parametricCurve: ParametricCurve

Functions

deriv	`fun deriv(displacement: Double): Double` Returns the heading derivative at the specified displacement.
get	`operator fun get(displacement: Double): Double` Returns the heading at the specified displacement.
init	`fun init(parametricCurve: ParametricCurve): Unit` Initialize the interpolator with a parametricCurve.
respectsDerivativeContinuity	`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	`fun secondDeriv(displacement: Double): Double` Returns the heading second derivative at the specified displacement.

Inherited Functions

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.
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.