com.acmerobotics.roadrunner.path.heading

Class ConstantInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.ConstantInterpolator

public class ConstantInterpolator
extends HeadingInterpolator

Constant heading interpolator used for arbitrary holonomic translations.

Field Summary

Fields inherited from class com.acmerobotics.roadrunner.path.heading.HeadingInterpolator

parametricCurve

Constructor Summary

Constructors

Constructor and Description
ConstantInterpolator(double heading) Constant heading interpolator used for arbitrary holonomic translations.

Method Summary

Modifier and Type	Method and Description
double	deriv(double displacement) Returns the heading derivative at the specified displacement.
double	get(double displacement) Returns the heading at the specified displacement.
double	getHeading() heading to maintain
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.

Methods inherited from class com.acmerobotics.roadrunner.path.heading.HeadingInterpolator

deriv, end, endDeriv, endSecondDeriv, get, getParametricCurve, init, respectsDerivativeContinuity, secondDeriv, setParametricCurve, start, startDeriv, startSecondDeriv

Constructor Detail

ConstantInterpolator

public ConstantInterpolator(double heading)

Constant heading interpolator used for arbitrary holonomic translations.

Parameters:

heading - heading to maintain

heading - heading to maintain

Method Detail

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.

getHeading

public double getHeading()

heading to maintain