Type hierarchy for representing 2D holonomic robot paths (x, y, and heading components).
class LineSegment : ParametricCurve
Parametric representation of a line. |
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abstract class ParametricCurve
Parametric curve with two components (x and y). These curves are reparametrized from an internal parameter (t) to the arc length parameter (s). |
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class Path
Path composed of a list of parametric curves and heading interpolators. |
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class PathBuilder
Easy-to-use builder for creating Path instances. |
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class PathSegment
Path segment composed of a parametric curve and heading interpolator. |
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class QuinticPolynomial
Quintic polynomial interpolated according to the provided derivatives. |
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class QuinticSpline : ParametricCurve
Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details. |