com.acmerobotics.roadrunner.path.heading

Class SplineInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.SplineInterpolator

public class SplineInterpolator
extends HeadingInterpolator

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Field Summary

Fields inherited from class com.acmerobotics.roadrunner.path.heading.HeadingInterpolator

curve

Constructor Summary

Constructors

Constructor and Description
SplineInterpolator(double startHeading, double endHeading) Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Method Summary

Modifier and Type	Method and Description
void	init(ParametricCurve curve) Initialize the interpolator with a curve.
double	internalDeriv$module(double s, double t)
double	internalGet$module(double s, double t)
double	internalSecondDeriv$module(double s, double t)

Methods inherited from class com.acmerobotics.roadrunner.path.heading.HeadingInterpolator

deriv, deriv, end, endDeriv, endSecondDeriv, get, get, getCurve, init, secondDeriv, secondDeriv, setCurve, start, startDeriv, startSecondDeriv

Constructor Detail

SplineInterpolator

public SplineInterpolator(double startHeading,
                          double endHeading)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Parameters:

startHeading - start heading

endHeading - end heading

Method Detail

init

public void init(@NotNull
                 ParametricCurve curve)

Initialize the interpolator with a curve.

Parameters:

curve - parametric curve

See Also:

curve

internalGet$module

public double internalGet$module(double s,
                                 double t)

internalDeriv$module

public double internalDeriv$module(double s,
                                   double t)

internalSecondDeriv$module

public double internalSecondDeriv$module(double s,
                                         double t)