com.acmerobotics.roadrunner.path

Class Path

com.acmerobotics.roadrunner.path.Path

public class Path

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

Constructor Summary

Constructors

Constructor and Description
Path(java.util.List<com.acmerobotics.roadrunner.path.PathSegment> segments) Path composed of a list of parametric curves and heading interpolators.
Path(PathSegment segment)

Method Summary

Modifier and Type	Method and Description
Pose2d	deriv(double s, double t) Returns the pose derivative s units along the path.
Pose2d	deriv(double s) Returns the pose derivative s units along the path.
Pose2d	end() Returns the end pose.
Pose2d	endDeriv() Returns the end pose derivative.
Pose2d	endSecondDeriv() Returns the end pose second derivative.
Pose2d	get(double s, double t) Returns the pose s units along the path.
Pose2d	get(double s) Returns the pose s units along the path.
java.util.List<com.acmerobotics.roadrunner.path.PathSegment>	getSegments() list of path segments
double	length() Returns the length of the path.
double	project(Vector2d queryPoint, double projectGuess) Project queryPoint onto the current path using the iterative method described here.
Pose2d	secondDeriv(double s, double t) Returns the pose second derivative s units along the path.
Pose2d	secondDeriv(double s) Returns the pose second derivative s units along the path.
Pose2d	start() Returns the start pose.
Pose2d	startDeriv() Returns the start pose derivative.
Pose2d	startSecondDeriv() Returns the start pose second derivative.

Constructor Detail

Path

public Path(@NotNull
            java.util.List<com.acmerobotics.roadrunner.path.PathSegment> segments)

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

Parameters:

segments - list of path segments

Path

public Path(@NotNull
            PathSegment segment)

Parameters:

segment - single path segment

Method Detail

length

public double length()

Returns the length of the path.

get

@JvmOverloads
 @NotNull
public Pose2d get(double s,
                                          double t)

Returns the pose s units along the path.

See Also:

s

get

@JvmOverloads
 @NotNull
public Pose2d get(double s)

Returns the pose s units along the path.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s,
                                            double t)

Returns the pose derivative s units along the path.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s)

Returns the pose derivative s units along the path.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s,
                                                  double t)

Returns the pose second derivative s units along the path.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s)

Returns the pose second derivative s units along the path.

See Also:

s

project

public double project(@NotNull
                      Vector2d queryPoint,
                      double projectGuess)

Project queryPoint onto the current path using the iterative method described here.

Parameters:

queryPoint - query queryPoint

projectGuess - guess for the projected queryPoint's s along the path

See Also:

queryPoint, here

start

@NotNull
public Pose2d start()

Returns the start pose.

startDeriv

@NotNull
public Pose2d startDeriv()

Returns the start pose derivative.

startSecondDeriv

@NotNull
public Pose2d startSecondDeriv()

Returns the start pose second derivative.

end

@NotNull
public Pose2d end()

Returns the end pose.

endDeriv

@NotNull
public Pose2d endDeriv()

Returns the end pose derivative.

endSecondDeriv

@NotNull
public Pose2d endSecondDeriv()

Returns the end pose second derivative.

getSegments

@NotNull
public java.util.List<com.acmerobotics.roadrunner.path.PathSegment> getSegments()

list of path segments