com.acmerobotics.roadrunner.path.heading

Class LinearInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.LinearInterpolator

public class LinearInterpolator
extends HeadingInterpolator

Linear heading interpolator for time-optimal transitions between poses.

Field Summary

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

parametricCurve

Constructor Summary

Constructors

Constructor and Description
LinearInterpolator(double startHeading, double angle) Linear heading interpolator for time-optimal transitions between poses.

Method Summary

Modifier and Type	Method and Description
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

LinearInterpolator

public LinearInterpolator(double startHeading,
                          double angle)

Linear heading interpolator for time-optimal transitions between poses.

Parameters:

startHeading - start heading

angle - angle to sweep through (can be greater than a revolution)

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)