com.acmerobotics.roadrunner.path

Class Path

com.acmerobotics.roadrunner.path.Path

public class Path

Path composed of a list of parametric curves and heading interpolators.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Path.ProjectionResult Simple container for the result of a projection (i.e., a Path.project call).

Constructor Summary

Constructors

Constructor and Description
Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves, java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators, java.util.List<java.lang.Boolean> reversed) Path composed of a list of parametric curves and heading interpolators.
Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves, java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators) Path composed of a list of parametric curves and heading interpolators.
Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves) Path composed of a list of parametric curves and heading interpolators.
Path() Path composed of a list of parametric curves and heading interpolators.
Path(ParametricCurve parametricCurve, HeadingInterpolator interpolator, boolean reversed)
Path(ParametricCurve parametricCurve, HeadingInterpolator interpolator)
Path(ParametricCurve parametricCurve)

Method Summary

Modifier and Type	Method and Description
Pose2d	deriv(double displacement) Returns the pose derivative displacement units along the path.
Pose2d	end() Returns the end pose.
Pose2d	endDeriv() Returns the end pose derivative.
Pose2d	endSecondDeriv() Returns the end pose second derivative.
Pose2d	get(double displacement) Returns the pose displacement units along the path.
java.util.List<com.acmerobotics.roadrunner.path.heading.HeadingInterpolator>	getInterpolators() heading interpolators
java.util.List<com.acmerobotics.roadrunner.path.ParametricCurve>	getParametricCurves() parametric curves
java.util.List<java.lang.Boolean>	getReversed() whether or not to travel along the path segment in reverse
double	length() Returns the length of the path.
Path.ProjectionResult	project(Vector2d point, double projectGuess) Project point onto the current path.
Pose2d	secondDeriv(double displacement) Returns the pose second derivative displacement units along the path.
Pose2d	start() Returns the start pose.
Pose2d	startDeriv() Returns the start pose derivative.
Pose2d	startSecondDeriv() Returns the start pose second derivative.

Constructor Detail

Path

public Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves,
            java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators,
            java.util.List<java.lang.Boolean> reversed)

Path composed of a list of parametric curves and heading interpolators.

Parameters:

parametricCurves - parametric curves

interpolators - heading interpolators

reversed - whether or not to travel along the path segment in reverse

parametricCurves - parametric curves

interpolators - heading interpolators

reversed - whether or not to travel along the path segment in reverse

Path

public Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves,
            java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators)

Path composed of a list of parametric curves and heading interpolators.

Parameters:

parametricCurves - parametric curves

interpolators - heading interpolators

parametricCurves - parametric curves

interpolators - heading interpolators

Path

public Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves)

Path composed of a list of parametric curves and heading interpolators.

Parameters:

parametricCurves - parametric curves

parametricCurves - parametric curves

Path

public Path()

Path composed of a list of parametric curves and heading interpolators.

Path

public Path(ParametricCurve parametricCurve,
            HeadingInterpolator interpolator,
            boolean reversed)

Parameters:

parametricCurve - parametric curve

interpolator - heading interpolator

reversed - whether or not to travel in reverse

Path

public Path(ParametricCurve parametricCurve,
            HeadingInterpolator interpolator)

Parameters:

parametricCurve - parametric curve

interpolator - heading interpolator

Path

public Path(ParametricCurve parametricCurve)

Parameters:

parametricCurve - parametric curve

Method Detail

length

public double length()

Returns the length of the path.

get

public Pose2d get(double displacement)

Returns the pose displacement units along the path.

deriv

public Pose2d deriv(double displacement)

Returns the pose derivative displacement units along the path.

secondDeriv

public Pose2d secondDeriv(double displacement)

Returns the pose second derivative displacement units along the path.

project

public Path.ProjectionResult project(Vector2d point,
                                     double projectGuess)

Project point onto the current path.

Parameters:

point - query point

projectGuess - guess for the projected point's displacement along the path

start

public Pose2d start()

Returns the start pose.

startDeriv

public Pose2d startDeriv()

Returns the start pose derivative.

startSecondDeriv

public Pose2d startSecondDeriv()

Returns the start pose second derivative.

end

public Pose2d end()

Returns the end pose.

endDeriv

public Pose2d endDeriv()

Returns the end pose derivative.

endSecondDeriv

public Pose2d endSecondDeriv()

Returns the end pose second derivative.

getParametricCurves

public java.util.List<com.acmerobotics.roadrunner.path.ParametricCurve> getParametricCurves()

parametric curves

getInterpolators

public java.util.List<com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> getInterpolators()

heading interpolators

getReversed

public java.util.List<java.lang.Boolean> getReversed()

whether or not to travel along the path segment in reverse