com.acmerobotics.roadrunner.path

Class PathSegment

com.acmerobotics.roadrunner.path.PathSegment

public class PathSegment

Path segment composed of a parametric curve and heading interpolator.

Constructor Detail

PathSegment

@JvmOverloads
public PathSegment(@NotNull
                                 ParametricCurve curve,
                                 @NotNull
                                 HeadingInterpolator interpolator)

Path segment composed of a parametric curve and heading interpolator.

Parameters:

curve - parametric curve

interpolator - heading interpolator

PathSegment

@JvmOverloads
public PathSegment(@NotNull
                                 ParametricCurve curve)

Path segment composed of a parametric curve and heading interpolator.

Parameters:

curve - parametric curve

Method Detail

length

public double length()

get

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

get

@JvmOverloads
 @NotNull
public Pose2d get(double s)

deriv

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

deriv

@JvmOverloads
 @NotNull
public Pose2d deriv(double s)

secondDeriv

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

secondDeriv

@JvmOverloads
 @NotNull
public Pose2d secondDeriv(double s)

tangentAngle

@JvmOverloads
public double tangentAngle(double s,
                                         double t)

tangentAngle

@JvmOverloads
public double tangentAngle(double s)

reparam

public double reparam(double s)

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.

startTangentAngle

public double startTangentAngle()

Returns the start tangent angle.

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.

endTangentAngle

public double endTangentAngle()

Returns the end tangent angle.

getCurve

@NotNull
public ParametricCurve getCurve()

parametric curve

getInterpolator

@NotNull
public HeadingInterpolator getInterpolator()

heading interpolator