com.acmerobotics.roadrunner.path

Class PathSegment

com.acmerobotics.roadrunner.path.PathSegment

public class PathSegment

Path segment composed of a parametric curve and heading interpolator.

Constructor Summary

Constructors

Constructor and Description
PathSegment(ParametricCurve curve, HeadingInterpolator interpolator, boolean reversed) Path segment composed of a parametric curve and heading interpolator.
PathSegment(ParametricCurve curve, HeadingInterpolator interpolator) Path segment composed of a parametric curve and heading interpolator.
PathSegment(ParametricCurve curve) Path segment composed of a parametric curve and heading interpolator.

Method Summary

Modifier and Type	Method and Description
Pose2d	deriv(double s, double t)
Pose2d	deriv(double s)
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)
Pose2d	get(double s)
ParametricCurve	getCurve() parametric curve
HeadingInterpolator	getInterpolator() heading interpolator
boolean	getReversed() if true,
double	length()
double	reparam(double s)
Pose2d	secondDeriv(double s, double t)
Pose2d	secondDeriv(double s)
Pose2d	start() Returns the start pose.
Pose2d	startDeriv() Returns the start pose derivative.
Pose2d	startSecondDeriv() Returns the start pose second derivative.

Constructor Detail

PathSegment

@JvmOverloads
public PathSegment(@NotNull
                                 ParametricCurve curve,
                                 @NotNull
                                 HeadingInterpolator interpolator,
                                 boolean reversed)

Path segment composed of a parametric curve and heading interpolator.

Parameters:

curve - parametric curve

interpolator - heading interpolator

reversed - if true, the segment is interpolated in reverse

PathSegment

@JvmOverloads
public PathSegment(@NotNull
                                 ParametricCurve curve,
                                 @NotNull
                                 HeadingInterpolator interpolator)

Path segment composed of a parametric curve and heading interpolator.

Parameters:

curve - parametric curve

interpolator - heading interpolator

PathSegment

@JvmOverloads
public PathSegment(@NotNull
                                 ParametricCurve curve)

Path segment composed of a parametric curve and heading interpolator.

Parameters:

curve - parametric curve

Method Detail

length

public double length()

get

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

get

@JvmOverloads
 @NotNull
public Pose2d get(double s)

deriv

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

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s)

secondDeriv

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

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s)

reparam

public double reparam(double s)

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.

getCurve

@NotNull
public ParametricCurve getCurve()

parametric curve

getInterpolator

@NotNull
public HeadingInterpolator getInterpolator()

heading interpolator

getReversed

public boolean getReversed()

if true,

the segment is interpolated in reverse