public class LinearInterpolator
extends HeadingInterpolator
Linear heading interpolator for time-optimal transitions between poses.
parametricCurve
Constructor and Description |
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LinearInterpolator(double startHeading,
double endHeading)
Linear heading interpolator for time-optimal transitions between poses.
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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 |
get(double displacement)
Returns the heading at the specified displacement.
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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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deriv, end, endDeriv, endSecondDeriv, get, getParametricCurve, init, respectsDerivativeContinuity, secondDeriv, setParametricCurve, start, startDeriv, startSecondDeriv
public LinearInterpolator(double startHeading, double endHeading)
Linear heading interpolator for time-optimal transitions between poses.
startHeading
- start headingendHeading
- end headingstartHeading
- start headingendHeading
- end headingpublic 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.