com.acmerobotics.roadrunner.path.heading

Class WiggleInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.WiggleInterpolator

public class WiggleInterpolator
extends HeadingInterpolator

Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.

Field Summary

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

parametricCurve

Constructor Summary

Constructors

Constructor and Description
WiggleInterpolator(double amplitude, double desiredPeriod, HeadingInterpolator baseInterpolator) Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.

Method Summary

Modifier and Type	Method and Description
void	init(ParametricCurve parametricCurve) Initialize the interpolator with a parametricCurve.
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

WiggleInterpolator

public WiggleInterpolator(double amplitude,
                          double desiredPeriod,
                          @NotNull
                          HeadingInterpolator baseInterpolator)

Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.

Parameters:

amplitude - amplitude of the wiggle oscillations

desiredPeriod - period fo the wiggle oscillations

baseInterpolator - base interpolator to add oscillations to (e.g., oscillations relative to the tangent)

Method Detail

init

public void init(@NotNull
                 ParametricCurve parametricCurve)

Initialize the interpolator with a parametricCurve.

Parameters:

parametricCurve - parametric curve

See Also:

parametricCurve

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)