com.acmerobotics.roadrunner.path.heading

Class SplineInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.SplineInterpolator

public class SplineInterpolator
extends HeadingInterpolator

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Field Summary

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

parametricCurve

Constructor Summary

Constructors

Constructor and Description
SplineInterpolator(double startHeading, double endHeading) Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

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.
void	init(ParametricCurve parametricCurve) Initialize the interpolator with a parametricCurve.
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

SplineInterpolator

public SplineInterpolator(double startHeading,
                          double endHeading)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Parameters:

startHeading - start heading

endHeading - end heading

startHeading - start heading

endHeading - end heading

Method Detail

init

public void init(ParametricCurve parametricCurve)

Initialize the interpolator with a parametricCurve.

Parameters:

parametricCurve - parametric curve

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.