com.acmerobotics.roadrunner.path.heading

Class WiggleInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.WiggleInterpolator

public class WiggleInterpolator
extends HeadingInterpolator

Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.

Field Summary

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

curve

Constructor Summary

Constructors

Constructor and Description
WiggleInterpolator(double amplitude, double desiredPeriod, HeadingInterpolator baseInterpolator) Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.

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

WiggleInterpolator

public WiggleInterpolator(double amplitude,
                          double desiredPeriod,
                          @NotNull
                          HeadingInterpolator baseInterpolator)

Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.

Parameters:

amplitude - amplitude of the wiggle oscillations

desiredPeriod - period fo the wiggle oscillations

baseInterpolator - base interpolator to add oscillations to (e.g., oscillations relative to the tangent)

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)