com.acmerobotics.roadrunner.path

Class ParametricCurve

com.acmerobotics.roadrunner.path.ParametricCurve

Direct Known Subclasses:

LineSegment, QuinticSpline

public class ParametricCurve

Parametric curve with two components (x and y). These curves are reparametrized from an internal parameter (t) to the arc length parameter (s).

Constructor Summary

Constructors

Constructor and Description
ParametricCurve() Parametric curve with two components (x and y). These curves are reparametrized from an internal parameter (t) to the arc length parameter (s).

Method Summary

Modifier and Type	Method and Description
Vector2d	deriv(double s, double t) Returns the derivative s units along the curve.
Vector2d	deriv(double s) Returns the derivative s units along the curve.
Vector2d	end() Returns the end vector.
Vector2d	endDeriv() Returns the end derivative.
Vector2d	endSecondDeriv() Returns the end second derivative.
Vector2d	endThirdDeriv() Returns the end third derivative.
Vector2d	get(double s, double t) Returns the vector s units along the curve.
Vector2d	get(double s) Returns the vector s units along the curve.
double	length() Returns the length of the curve.
Vector2d	secondDeriv(double s, double t) Returns the second derivative s units along the curve.
Vector2d	secondDeriv(double s) Returns the second derivative s units along the curve.
Vector2d	start() Returns the start vector.
Vector2d	startDeriv() Returns the start derivative.
Vector2d	startSecondDeriv() Returns the start second derivative.
Vector2d	startThirdDeriv() Returns the start third derivative.
double	tangentAngle(double s, double t) Returns the angle of the tangent line s units along the curve.
double	tangentAngle(double s) Returns the angle of the tangent line s units along the curve.
double	tangentAngleDeriv(double s, double t) Returns the derivative of the tangent angle s units along the curve.
double	tangentAngleDeriv(double s) Returns the derivative of the tangent angle s units along the curve.
double	tangentAngleSecondDeriv(double s, double t) Returns the second derivative of the tangent angle s units along the curve.
double	tangentAngleSecondDeriv(double s) Returns the second derivative of the tangent angle s units along the curve.
Vector2d	thirdDeriv(double s, double t) Returns the third derivative s units along the curve.
Vector2d	thirdDeriv(double s) Returns the third derivative s units along the curve.

Constructor Detail

ParametricCurve

public ParametricCurve()

Parametric curve with two components (x and y). These curves are reparametrized from an internal parameter (t) to the arc length parameter (s).

Method Detail

get

@JvmOverloads
 @NotNull
public Vector2d get(double s,
                                            double t)

Returns the vector s units along the curve.

See Also:

s

get

@JvmOverloads
 @NotNull
public Vector2d get(double s)

Returns the vector s units along the curve.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Vector2d deriv(double s,
                                              double t)

Returns the derivative s units along the curve.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Vector2d deriv(double s)

Returns the derivative s units along the curve.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Vector2d secondDeriv(double s,
                                                    double t)

Returns the second derivative s units along the curve.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Vector2d secondDeriv(double s)

Returns the second derivative s units along the curve.

See Also:

s

thirdDeriv

@JvmOverloads
 @NotNull
public Vector2d thirdDeriv(double s,
                                                   double t)

Returns the third derivative s units along the curve.

See Also:

s

thirdDeriv

@JvmOverloads
 @NotNull
public Vector2d thirdDeriv(double s)

Returns the third derivative s units along the curve.

See Also:

s

start

@NotNull
public Vector2d start()

Returns the start vector.

startDeriv

@NotNull
public Vector2d startDeriv()

Returns the start derivative.

startSecondDeriv

@NotNull
public Vector2d startSecondDeriv()

Returns the start second derivative.

startThirdDeriv

@NotNull
public Vector2d startThirdDeriv()

Returns the start third derivative.

end

@NotNull
public Vector2d end()

Returns the end vector.

endDeriv

@NotNull
public Vector2d endDeriv()

Returns the end derivative.

endSecondDeriv

@NotNull
public Vector2d endSecondDeriv()

Returns the end second derivative.

endThirdDeriv

@NotNull
public Vector2d endThirdDeriv()

Returns the end third derivative.

tangentAngle

@JvmOverloads
public double tangentAngle(double s,
                                         double t)

Returns the angle of the tangent line s units along the curve.

See Also:

s

tangentAngle

@JvmOverloads
public double tangentAngle(double s)

Returns the angle of the tangent line s units along the curve.

See Also:

s

tangentAngleDeriv

@JvmOverloads
public double tangentAngleDeriv(double s,
                                              double t)

Returns the derivative of the tangent angle s units along the curve.

See Also:

s

tangentAngleDeriv

@JvmOverloads
public double tangentAngleDeriv(double s)

Returns the derivative of the tangent angle s units along the curve.

See Also:

s

tangentAngleSecondDeriv

@JvmOverloads
public double tangentAngleSecondDeriv(double s,
                                                    double t)

Returns the second derivative of the tangent angle s units along the curve.

See Also:

s

tangentAngleSecondDeriv

@JvmOverloads
public double tangentAngleSecondDeriv(double s)

Returns the second derivative of the tangent angle s units along the curve.

See Also:

s

length

public double length()

Returns the length of the curve.