Type hierarchy for representing 2D holonomic robot paths (x, y, and heading components).
class LineSegment : ParametricCurve
Parametric representation of a line. |
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class NthDegreePolynomial
Nth-degree polynomial interpolated according to the provided derivatives. Note that this implementation is less performant than QuinticPolynomial as it uses general matrix operations for derivative computations. |
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class NthDegreeSplineSegment : ParametricCurve
Combination of two quintic polynomials into a 2D spline. |
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abstract class ParametricCurve
Parametric curve with two components (x and y). |
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class Path
Path composed of a parametric curve and a heading interpolator. |
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class PathBuilder
Easy-to-use builder for creating Path instances. |
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class QuinticPolynomial
Quintic polynomial interpolated according to the provided derivatives. |
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class QuinticSplineSegment : ParametricCurve
Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details. |