core / com.acmerobotics.roadrunner.path / Path

Path

class Path

Path composed of a list of parametric curves and heading interpolators.

Parameters

parametricCurves - parametric curves

interpolators - heading interpolators

reversed - whether or not to travel along the path segment in reverse

Types

ProjectionResult

data class ProjectionResult

Simple container for the result of a projection (i.e., a project call).

Constructors

<init>

Path(parametricCurve: ParametricCurve, interpolator: HeadingInterpolator = TangentInterpolator(), reversed: Boolean = false)

Path(parametricCurves: List<ParametricCurve> = emptyList(), interpolators: List<HeadingInterpolator> = parametricCurves.map { TangentInterpolator() }, reversed: List<Boolean> = parametricCurves.map { false })

Path composed of a list of parametric curves and heading interpolators.

Properties

interpolators	`val interpolators: List<HeadingInterpolator>` heading interpolators
parametricCurves	`val parametricCurves: List<ParametricCurve>` parametric curves
reversed	`val reversed: List<Boolean>` whether or not to travel along the path segment in reverse

Functions

deriv	`fun deriv(s: Double, t: Double = reparam(s)): Pose2d` Returns the pose derivative s units along the path.
end	`fun end(): Pose2d` Returns the end pose.
endDeriv	`fun endDeriv(): Pose2d` Returns the end pose derivative.
endSecondDeriv	`fun endSecondDeriv(): Pose2d` Returns the end pose second derivative.
get	`operator fun get(s: Double, t: Double = reparam(s)): Pose2d` Returns the pose s units along the path.
length	`fun length(): Double` Returns the length of the path.
project	`fun project(point: Vector2d, projectGuess: Double = length() / 2.0): Path.ProjectionResult` Project point onto the current path.
secondDeriv	`fun secondDeriv(s: Double, t: Double = reparam(s)): Pose2d` Returns the pose second derivative s units along the path.
start	`fun start(): Pose2d` Returns the start pose.
startDeriv	`fun startDeriv(): Pose2d` Returns the start pose derivative.
startSecondDeriv	`fun startSecondDeriv(): Pose2d` Returns the start pose second derivative.