A set of interpolators that describe how the robot's heading changes along a path.
class ConstantInterpolator : HeadingInterpolator
Constant heading interpolator used for arbitrary holonomic translations. |
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abstract class HeadingInterpolator
Interpolator for specifying the heading for holonomic paths. |
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class LinearInterpolator : HeadingInterpolator
Linear heading interpolator for time-optimal transitions between poses. |
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class SplineInterpolator : HeadingInterpolator
Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles). |
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class TangentInterpolator : HeadingInterpolator
Tangent (system) interpolator for tank/differential and other nonholonomic drives. |
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class WiggleInterpolator : 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. |