class SplineInterpolator : HeadingInterpolator
Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).
SplineInterpolator(startHeading: Double, endHeading: Double)
Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles). |
lateinit var parametricCurve: ParametricCurve
Base parametric curve |
fun init(parametricCurve: ParametricCurve): Unit
Initialize the interpolator with a parametricCurve. |
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fun internalDeriv(s: Double, t: Double): Double |
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fun internalGet(s: Double, t: Double): Double |
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fun internalSecondDeriv(s: Double, t: Double): Double |
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fun respectsDerivativeContinuity(): Boolean
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 TangentInterpolator. |
fun deriv(s: Double, t: Double = parametricCurve.reparam(s)): Double
Returns the heading derivative at the specified s. |
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fun end(): Double
Returns the end heading. |
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fun endDeriv(): Double
Returns the end heading derivative. |
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fun endSecondDeriv(): Double
Returns the end heading second derivative. |
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operator fun get(s: Double, t: Double = parametricCurve.reparam(s)): Double
Returns the heading at the specified s. |
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fun secondDeriv(s: Double, t: Double = parametricCurve.reparam(s)): Double
Returns the heading second derivative at the specified s. |
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fun start(): Double
Returns the start heading. |
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fun startDeriv(): Double
Returns the start heading derivative. |
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fun startSecondDeriv(): Double
Returns the start heading second derivative. |