com.acmerobotics.roadrunner.path.heading

Class ConstantInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.ConstantInterpolator

public class ConstantInterpolator
extends HeadingInterpolator

Constant heading interpolator used for arbitrary holonomic translations.

Field Summary

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

parametricCurve

Constructor Summary

Constructors

Constructor and Description
ConstantInterpolator(double heading) Constant heading interpolator used for arbitrary holonomic translations.

Method Summary

Modifier and Type	Method and Description
double	getHeading() heading to maintain
protected double	internalDeriv(double s, double t)
protected double	internalGet(double s, double t)
protected double	internalSecondDeriv(double s, double t)
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.

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

deriv, deriv, end, endDeriv, endSecondDeriv, get, get, getParametricCurve, init, internalDeriv, internalGet, internalSecondDeriv, respectsDerivativeContinuity, secondDeriv, secondDeriv, setParametricCurve, start, startDeriv, startSecondDeriv

Constructor Detail

ConstantInterpolator

public ConstantInterpolator(double heading)

Constant heading interpolator used for arbitrary holonomic translations.

Parameters:

heading - heading to maintain

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

internalGet

protected double internalGet(double s,
                             double t)

internalDeriv

protected double internalDeriv(double s,
                               double t)

internalSecondDeriv

protected double internalSecondDeriv(double s,
                                     double t)

getHeading

public double getHeading()

heading to maintain