com.acmerobotics.roadrunner.path.heading

Class HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.HeadingInterpolator

Direct Known Subclasses:

ConstantInterpolator, LinearInterpolator, SplineInterpolator, TangentInterpolator, WiggleInterpolator

public class HeadingInterpolator

Interpolator for specifying the heading for holonomic paths.

Field Detail

curve

@NotNull
protected ParametricCurve curve

Base parametric curve

Constructor Detail

HeadingInterpolator

public HeadingInterpolator()

Interpolator for specifying the heading for holonomic paths.

Method Detail

getCurve

@NotNull
protected ParametricCurve getCurve()

Base parametric curve

setCurve

protected void setCurve(@NotNull
                        ParametricCurve p)

Base parametric curve

init

public void init(@NotNull
                 ParametricCurve curve)

Initialize the interpolator with a curve.

Parameters:

curve - parametric curve

See Also:

curve

get

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

Returns the heading at the specified s.

See Also:

s

get

@JvmOverloads
public double get(double s)

Returns the heading at the specified s.

See Also:

s

deriv

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

Returns the heading derivative at the specified s.

See Also:

s

deriv

@JvmOverloads
public double deriv(double s)

Returns the heading derivative at the specified s.

See Also:

s

secondDeriv

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

Returns the heading second derivative at the specified s.

See Also:

s

secondDeriv

@JvmOverloads
public double secondDeriv(double s)

Returns the heading second derivative at the specified s.

See Also:

s

start

public double start()

Returns the start heading.

startDeriv

public double startDeriv()

Returns the start heading derivative.

startSecondDeriv

public double startSecondDeriv()

Returns the start heading second derivative.

end

public double end()

Returns the end heading.

endDeriv

public double endDeriv()

Returns the end heading derivative.

endSecondDeriv

public double endSecondDeriv()

Returns the end heading second derivative.