core / com.acmerobotics.roadrunner.path.heading / WiggleInterpolator

WiggleInterpolator

class WiggleInterpolator : 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.

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)

Constructors

<init>

WiggleInterpolator(amplitude: Double, desiredPeriod: Double, baseInterpolator: HeadingInterpolator = TangentInterpolator())

Inherited Properties

parametricCurve

lateinit var parametricCurve: ParametricCurve

Base parametric curve

Functions

init	`fun init(parametricCurve: ParametricCurve): Unit` Initialize the interpolator with a parametricCurve.
internalDeriv	`fun internalDeriv(s: Double, t: Double): Double`
internalGet	`fun internalGet(s: Double, t: Double): Double`
internalSecondDeriv	`fun internalSecondDeriv(s: Double, t: Double): Double`
respectsDerivativeContinuity	`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.

Inherited Functions

deriv	`fun deriv(s: Double, t: Double = parametricCurve.reparam(s)): Double` Returns the heading derivative at the specified s.
end	`fun end(): Double` Returns the end heading.
endDeriv	`fun endDeriv(): Double` Returns the end heading derivative.
endSecondDeriv	`fun endSecondDeriv(): Double` Returns the end heading second derivative.
get	`operator fun get(s: Double, t: Double = parametricCurve.reparam(s)): Double` Returns the heading at the specified s.
secondDeriv	`fun secondDeriv(s: Double, t: Double = parametricCurve.reparam(s)): Double` Returns the heading second derivative at the specified s.
start	`fun start(): Double` Returns the start heading.
startDeriv	`fun startDeriv(): Double` Returns the start heading derivative.
startSecondDeriv	`fun startSecondDeriv(): Double` Returns the start heading second derivative.