com.acmerobotics.roadrunner.path

Class QuinticSpline

ParametricCurve

com.acmerobotics.roadrunner.path.QuinticSpline

public class QuinticSpline
extends ParametricCurve

Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details.

See Also:

this short paper

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	QuinticSpline.Waypoint Class for representing the end points of interpolated quintic splines.

Constructor Summary

Constructors

Constructor and Description
QuinticSpline(QuinticSpline.Waypoint start, QuinticSpline.Waypoint end, double maxDeltaK, double maxSegmentLength) Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details.

Method Summary

Modifier and Type	Method and Description
QuinticPolynomial	getX() X polynomial (i.e., x(t))
QuinticPolynomial	getY() Y polynomial (i.e., y(t))
Vector2d	internalDeriv$module(double t)
Vector2d	internalGet$module(double t)
Vector2d	internalSecondDeriv$module(double t)
Vector2d	internalThirdDeriv$module(double t)
double	length() Returns the length of the curve.
double	paramDeriv$module(double t)
double	paramSecondDeriv$module(double t)
double	paramThirdDeriv$module(double t)
double	reparam$module(double s)
kotlin.Array[]	reparam$module(DoubleProgression s)
java.lang.String	toString()

Methods inherited from class com.acmerobotics.roadrunner.path.ParametricCurve

deriv, deriv, end, endDeriv, endSecondDeriv, endThirdDeriv, get, get, length, secondDeriv, secondDeriv, start, startDeriv, startSecondDeriv, startThirdDeriv, tangentAngle, tangentAngle, tangentAngleDeriv, tangentAngleDeriv, tangentAngleSecondDeriv, tangentAngleSecondDeriv, thirdDeriv, thirdDeriv

Constructor Detail

QuinticSpline

public QuinticSpline(@NotNull
                     QuinticSpline.Waypoint start,
                     @NotNull
                     QuinticSpline.Waypoint end,
                     double maxDeltaK,
                     double maxSegmentLength)

Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details.

Parameters:

start - start waypoint

end - end waypoint

maxDeltaK - maximum change in curvature between arc length param segments

maxSegmentLength - maximum length of a single param segment

See Also:

this short paper

Method Detail

getX

@NotNull
public QuinticPolynomial getX()

X polynomial (i.e., x(t))

getY

@NotNull
public QuinticPolynomial getY()

Y polynomial (i.e., y(t))

internalGet$module

@NotNull
public Vector2d internalGet$module(double t)

internalDeriv$module

@NotNull
public Vector2d internalDeriv$module(double t)

internalSecondDeriv$module

@NotNull
public Vector2d internalSecondDeriv$module(double t)

internalThirdDeriv$module

@NotNull
public Vector2d internalThirdDeriv$module(double t)

reparam$module

public double reparam$module(double s)

reparam$module

@NotNull
public kotlin.Array[] reparam$module(@NotNull
                                              DoubleProgression s)

paramDeriv$module

public double paramDeriv$module(double t)

paramSecondDeriv$module

public double paramSecondDeriv$module(double t)

paramThirdDeriv$module

public double paramThirdDeriv$module(double t)

length

public double length()

Returns the length of the curve.

toString

@NotNull
public java.lang.String toString()