com.acmerobotics.roadrunner.path.heading

Class HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.HeadingInterpolator

Direct Known Subclasses:

ConstantInterpolator, LinearInterpolator, SplineInterpolator, TangentInterpolator, WiggleInterpolator

public class HeadingInterpolator

Interpolator for specifying the heading for holonomic paths.

Field Summary

Fields

Modifier and Type	Field and Description
protected ParametricCurve	curve Base parametric curve

Constructor Summary

Constructors

Constructor and Description
HeadingInterpolator() Interpolator for specifying the heading for holonomic paths.

Method Summary

Modifier and Type	Method and Description
double	deriv(double s, double t) Returns the heading derivative at the specified s.
double	deriv(double s) Returns the heading derivative at the specified s.
double	end() Returns the end heading.
double	endDeriv() Returns the end heading derivative.
double	endSecondDeriv() Returns the end heading second derivative.
double	get(double s, double t) Returns the heading at the specified s.
double	get(double s) Returns the heading at the specified s.
protected ParametricCurve	getCurve() Base parametric curve
void	init(ParametricCurve curve) Initialize the interpolator with a curve.
double	secondDeriv(double s, double t) Returns the heading second derivative at the specified s.
double	secondDeriv(double s) Returns the heading second derivative at the specified s.
protected void	setCurve(ParametricCurve p) Base parametric curve
double	start() Returns the start heading.
double	startDeriv() Returns the start heading derivative.
double	startSecondDeriv() Returns the start heading second derivative.

Field Detail

curve

@NotNull
protected ParametricCurve curve

Base parametric curve

Constructor Detail

HeadingInterpolator

public HeadingInterpolator()

Interpolator for specifying the heading for holonomic paths.

Method Detail

getCurve

@NotNull
protected ParametricCurve getCurve()

Base parametric curve

setCurve

protected void setCurve(@NotNull
                        ParametricCurve p)

Base parametric curve

init

public void init(@NotNull
                 ParametricCurve curve)

Initialize the interpolator with a curve.

Parameters:

curve - parametric curve

See Also:

curve

get

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

Returns the heading at the specified s.

See Also:

s

get

@JvmOverloads
public double get(double s)

Returns the heading at the specified s.

See Also:

s

deriv

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

Returns the heading derivative at the specified s.

See Also:

s

deriv

@JvmOverloads
public double deriv(double s)

Returns the heading derivative at the specified s.

See Also:

s

secondDeriv

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

Returns the heading second derivative at the specified s.

See Also:

s

secondDeriv

@JvmOverloads
public double secondDeriv(double s)

Returns the heading second derivative at the specified s.

See Also:

s

start

public double start()

Returns the start heading.

startDeriv

public double startDeriv()

Returns the start heading derivative.

startSecondDeriv

public double startSecondDeriv()

Returns the start heading second derivative.

end

public double end()

Returns the end heading.

endDeriv

public double endDeriv()

Returns the end heading derivative.

endSecondDeriv

public double endSecondDeriv()

Returns the end heading second derivative.