com.acmerobotics.roadrunner.path

Class Path

com.acmerobotics.roadrunner.path.Path

public class Path

Path composed of a list of parametric curves and heading interpolators.

Constructor Detail

Path

public Path(@NotNull
            java.util.List<com.acmerobotics.roadrunner.path.PathSegment> segments)

Path composed of a list of parametric curves and heading interpolators.

Parameters:

segments - list of path segments

Path

public Path(@NotNull
            PathSegment segment)

Parameters:

segment - single path segment

Method Detail

length

public double length()

Returns the length of the path.

segment

@NotNull
public kotlin.Pair<com.acmerobotics.roadrunner.path.PathSegment,java.lang.Double> segment(double s)

get

@JvmOverloads
 @NotNull
public Pose2d get(double s,
                                          double t)

Returns the pose s units along the path.

See Also:

s

get

@JvmOverloads
 @NotNull
public Pose2d get(double s)

Returns the pose s units along the path.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s,
                                            double t)

Returns the pose derivative s units along the path.

See Also:

s

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s)

Returns the pose derivative s units along the path.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s,
                                                  double t)

Returns the pose second derivative s units along the path.

See Also:

s

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s)

Returns the pose second derivative s units along the path.

See Also:

s

fastProject

public double fastProject(@NotNull
                          Vector2d queryPoint,
                          double projectGuess)

Project queryPoint onto the current path using the iterative method described here.

Parameters:

queryPoint - query queryPoint

projectGuess - guess for the projected queryPoint's s along the path

See Also:

queryPoint, here

project

public double project(@NotNull
                      Vector2d queryPoint,
                      double ds)

Project queryPoint onto the current path by applying fastProject with various guesses along the path.

Parameters:

queryPoint - query queryPoint

ds - spacing between guesses

See Also:

queryPoint, fastProject

start

@NotNull
public Pose2d start()

Returns the start pose.

startDeriv

@NotNull
public Pose2d startDeriv()

Returns the start pose derivative.

startSecondDeriv

@NotNull
public Pose2d startSecondDeriv()

Returns the start pose second derivative.

end

@NotNull
public Pose2d end()

Returns the end pose.

endDeriv

@NotNull
public Pose2d endDeriv()

Returns the end pose derivative.

endSecondDeriv

@NotNull
public Pose2d endSecondDeriv()

Returns the end pose second derivative.

getSegments

@NotNull
public java.util.List<com.acmerobotics.roadrunner.path.PathSegment> getSegments()

list of path segments