com.acmerobotics.roadrunner.path.heading

Class TangentInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.TangentInterpolator

public class TangentInterpolator
extends HeadingInterpolator

Tangent (system) interpolator for tank/differential and other nonholonomic drives.

Field Summary

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

parametricCurve

Constructor Summary

Constructors

Constructor and Description
TangentInterpolator() Tangent (system) interpolator for tank/differential and other nonholonomic drives.

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.
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

TangentInterpolator

public TangentInterpolator()

Tangent (system) interpolator for tank/differential and other nonholonomic drives.

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.