QuinticSpline

class QuinticSpline : ParametricCurve

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

start - start waypoint

end - end waypoint

maxDeltaK - maximum change in curvature between arc length param segments

maxSegmentLength - maximum length of a single param segment

class Waypoint

Class for representing the end points of interpolated quintic splines.

QuinticSpline(start: QuinticSpline.Waypoint, end: QuinticSpline.Waypoint, maxDeltaK: Double = 0.01, maxSegmentLength: Double = 0.25)

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

x	`val x: QuinticPolynomial` X polynomial (i.e., x(t))
y	`val y: QuinticPolynomial` Y polynomial (i.e., y(t))

length	`fun length(): Double` Returns the length of the curve.
toString	`fun toString(): String`

deriv	`fun deriv(s: Double, t: Double = reparam(s)): Vector2d` Returns the derivative s units along the curve.
end	`fun end(): Vector2d` Returns the end vector.
endDeriv	`fun endDeriv(): Vector2d` Returns the end derivative.
endSecondDeriv	`fun endSecondDeriv(): Vector2d` Returns the end second derivative.
endThirdDeriv	`fun endThirdDeriv(): Vector2d` Returns the end third derivative.
get	`operator fun get(s: Double, t: Double = reparam(s)): Vector2d` Returns the vector s units along the curve.
secondDeriv	`fun secondDeriv(s: Double, t: Double = reparam(s)): Vector2d` Returns the second derivative s units along the curve.
start	`fun start(): Vector2d` Returns the start vector.
startDeriv	`fun startDeriv(): Vector2d` Returns the start derivative.
startSecondDeriv	`fun startSecondDeriv(): Vector2d` Returns the start second derivative.
startThirdDeriv	`fun startThirdDeriv(): Vector2d` Returns the start third derivative.
tangentAngle	`fun tangentAngle(s: Double, t: Double = reparam(s)): Double` Returns the angle of the tangent line s units along the curve.
tangentAngleDeriv	`fun tangentAngleDeriv(s: Double, t: Double = reparam(s)): Double` Returns the derivative of the tangent angle s units along the curve.
tangentAngleSecondDeriv	`fun tangentAngleSecondDeriv(s: Double, t: Double = reparam(s)): Double` Returns the second derivative of the tangent angle s units along the curve.
thirdDeriv	`fun thirdDeriv(s: Double, t: Double = reparam(s)): Vector2d` Returns the third derivative s units along the curve.