com.acmerobotics.roadrunner.path

Class Path

com.acmerobotics.roadrunner.path.Path

public class Path

Path composed of a list of parametric curves and heading interpolators.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Path.ProjectionResult Simple container for the result of a projection (i.e., a project call).

Constructor Summary

Constructors

Constructor and Description
Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves, java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators, java.util.List<java.lang.Boolean> reversed) Path composed of a list of parametric curves and heading interpolators.
Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves, java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators) Path composed of a list of parametric curves and heading interpolators.
Path(java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves) Path composed of a list of parametric curves and heading interpolators.
Path() Path composed of a list of parametric curves and heading interpolators.
Path(ParametricCurve parametricCurve, HeadingInterpolator interpolator, boolean reversed)
Path(ParametricCurve parametricCurve, HeadingInterpolator interpolator)
Path(ParametricCurve parametricCurve)

Method Summary

Modifier and Type	Method and Description
Pose2d	deriv(double s, double t) Returns the pose derivative s units along the path.
Pose2d	deriv(double s) Returns the pose derivative s units along the path.
Pose2d	end() Returns the end pose.
Pose2d	endDeriv() Returns the end pose derivative.
Pose2d	endSecondDeriv() Returns the end pose second derivative.
Pose2d	get(double s, double t) Returns the pose s units along the path.
Pose2d	get(double s) Returns the pose s units along the path.
java.util.List<com.acmerobotics.roadrunner.path.heading.HeadingInterpolator>	getInterpolators() heading interpolators
java.util.List<com.acmerobotics.roadrunner.path.ParametricCurve>	getParametricCurves() parametric curves
java.util.List<java.lang.Boolean>	getReversed() whether or not to travel along the path segment in reverse
double	length() Returns the length of the path.
Path.ProjectionResult	project(Vector2d point, double projectGuess) Project point onto the current path.
Pose2d	secondDeriv(double s, double t) Returns the pose second derivative s units along the path.
Pose2d	secondDeriv(double s) Returns the pose second derivative s units along the path.
Pose2d	start() Returns the start pose.
Pose2d	startDeriv() Returns the start pose derivative.
Pose2d	startSecondDeriv() Returns the start pose second derivative.

Constructor Detail

Path

@JvmOverloads
public Path(@NotNull
                          java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves,
                          @NotNull
                          java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators,
                          @NotNull
                          java.util.List<java.lang.Boolean> reversed)

Path composed of a list of parametric curves and heading interpolators.

Parameters:

parametricCurves - parametric curves

interpolators - heading interpolators

reversed - whether or not to travel along the path segment in reverse

Path

@JvmOverloads
public Path(@NotNull
                          java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves,
                          @NotNull
                          java.util.List<? extends com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> interpolators)

Path composed of a list of parametric curves and heading interpolators.

Parameters:

parametricCurves - parametric curves

interpolators - heading interpolators

Path

@JvmOverloads
public Path(@NotNull
                          java.util.List<? extends com.acmerobotics.roadrunner.path.ParametricCurve> parametricCurves)

Path composed of a list of parametric curves and heading interpolators.

Parameters:

parametricCurves - parametric curves

Path

@JvmOverloads
public Path()

Path composed of a list of parametric curves and heading interpolators.

Path

@JvmOverloads
public Path(@NotNull
                          ParametricCurve parametricCurve,
                          @NotNull
                          HeadingInterpolator interpolator,
                          boolean reversed)

Parameters:

parametricCurve - parametric curve

interpolator - heading interpolator

reversed - whether or not to travel in reverse

Path

@JvmOverloads
public Path(@NotNull
                          ParametricCurve parametricCurve,
                          @NotNull
                          HeadingInterpolator interpolator)

Parameters:

parametricCurve - parametric curve

interpolator - heading interpolator

Path

@JvmOverloads
public Path(@NotNull
                          ParametricCurve parametricCurve)

Parameters:

parametricCurve - parametric curve

Method Detail

length

public double length()

Returns the length of the path.

get

@JvmOverloads
 @NotNull
public Pose2d get(double s,
                                          double t)

Returns the pose s units along the path.

See Also:

s

get

@JvmOverloads
 @NotNull
public Pose2d get(double s)

Returns the pose s units along the path.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s,
                                            double t)

Returns the pose derivative s units along the path.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s)

Returns the pose derivative s units along the path.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s,
                                                  double t)

Returns the pose second derivative s units along the path.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s)

Returns the pose second derivative s units along the path.

See Also:

s

project

@NotNull
public Path.ProjectionResult project(@NotNull
                                              Vector2d point,
                                              double projectGuess)

Project point onto the current path.

Parameters:

point - query point

projectGuess - guess for the projected point's s along the path

See Also:

point

start

@NotNull
public Pose2d start()

Returns the start pose.

startDeriv

@NotNull
public Pose2d startDeriv()

Returns the start pose derivative.

startSecondDeriv

@NotNull
public Pose2d startSecondDeriv()

Returns the start pose second derivative.

end

@NotNull
public Pose2d end()

Returns the end pose.

endDeriv

@NotNull
public Pose2d endDeriv()

Returns the end pose derivative.

endSecondDeriv

@NotNull
public Pose2d endSecondDeriv()

Returns the end pose second derivative.

getParametricCurves

@NotNull
public java.util.List<com.acmerobotics.roadrunner.path.ParametricCurve> getParametricCurves()

parametric curves

getInterpolators

@NotNull
public java.util.List<com.acmerobotics.roadrunner.path.heading.HeadingInterpolator> getInterpolators()

heading interpolators

getReversed

@NotNull
public java.util.List<java.lang.Boolean> getReversed()

whether or not to travel along the path segment in reverse