public class HeadingInterpolator
Interpolator for specifying the heading for holonomic paths.
Modifier and Type | Field and Description |
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ParametricCurve |
parametricCurve
Base parametric curve
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Constructor and Description |
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HeadingInterpolator()
Interpolator for specifying the heading for holonomic paths.
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Modifier and Type | Method and Description |
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double |
deriv(double displacement)
Returns the heading derivative at the specified displacement.
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double |
end()
Returns the end heading.
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double |
endDeriv()
Returns the end heading derivative.
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double |
endSecondDeriv()
Returns the end heading second derivative.
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double |
get(double displacement)
Returns the heading at the specified displacement.
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ParametricCurve |
getParametricCurve()
Base parametric curve
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void |
init(ParametricCurve parametricCurve)
Initialize the interpolator with a parametricCurve.
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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.
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void |
setParametricCurve(ParametricCurve p)
Base parametric curve
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double |
start()
Returns the start heading.
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double |
startDeriv()
Returns the start heading derivative.
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double |
startSecondDeriv()
Returns the start heading second derivative.
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public ParametricCurve parametricCurve
Base parametric curve
public HeadingInterpolator()
Interpolator for specifying the heading for holonomic paths.
public ParametricCurve getParametricCurve()
Base parametric curve
public void setParametricCurve(ParametricCurve p)
Base parametric curve
public void init(ParametricCurve parametricCurve)
Initialize the interpolator with a parametricCurve.
parametricCurve
- parametric curvepublic 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
.
class TangentInterpolator
class TangentInterpolator
public double get(double displacement)
Returns the heading at the specified displacement.
public double deriv(double displacement)
Returns the heading derivative at the specified displacement.
public double secondDeriv(double displacement)
Returns the heading second derivative at the specified displacement.
public double start()
Returns the start heading.
public double startDeriv()
Returns the start heading derivative.
public double startSecondDeriv()
Returns the start heading second derivative.
public double end()
Returns the end heading.
public double endDeriv()
Returns the end heading derivative.
public double endSecondDeriv()
Returns the end heading second derivative.