com.acmerobotics.roadrunner.path.heading

Class SplineInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.SplineInterpolator

public class SplineInterpolator
extends HeadingInterpolator

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Constructor Detail

SplineInterpolator

@JvmOverloads
public SplineInterpolator(double startHeading,
                                        double endHeading,
                                        @Nullable
                                        java.lang.Double startHeadingDeriv,
                                        @Nullable
                                        java.lang.Double startHeadingSecondDeriv,
                                        @Nullable
                                        java.lang.Double endHeadingDeriv,
                                        @Nullable
                                        java.lang.Double endHeadingSecondDeriv)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Parameters:

startHeading - start heading

endHeading - end heading

startHeadingDeriv - start heading deriv (advanced)

startHeadingSecondDeriv - start heading second deriv (advanced)

endHeadingDeriv - start heading deriv (advanced)

endHeadingSecondDeriv - start heading second deriv (advanced)

SplineInterpolator

@JvmOverloads
public SplineInterpolator(double startHeading,
                                        double endHeading,
                                        @Nullable
                                        java.lang.Double startHeadingDeriv,
                                        @Nullable
                                        java.lang.Double startHeadingSecondDeriv,
                                        @Nullable
                                        java.lang.Double endHeadingDeriv)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Parameters:

startHeading - start heading

endHeading - end heading

startHeadingDeriv - start heading deriv (advanced)

startHeadingSecondDeriv - start heading second deriv (advanced)

endHeadingDeriv - start heading deriv (advanced)

SplineInterpolator

@JvmOverloads
public SplineInterpolator(double startHeading,
                                        double endHeading,
                                        @Nullable
                                        java.lang.Double startHeadingDeriv,
                                        @Nullable
                                        java.lang.Double startHeadingSecondDeriv)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Parameters:

startHeading - start heading

endHeading - end heading

startHeadingDeriv - start heading deriv (advanced)

startHeadingSecondDeriv - start heading second deriv (advanced)

SplineInterpolator

@JvmOverloads
public SplineInterpolator(double startHeading,
                                        double endHeading,
                                        @Nullable
                                        java.lang.Double startHeadingDeriv)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Parameters:

startHeading - start heading

endHeading - end heading

startHeadingDeriv - start heading deriv (advanced)

SplineInterpolator

@JvmOverloads
public SplineInterpolator(double startHeading,
                                        double endHeading)

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

Parameters:

startHeading - start heading

endHeading - end heading

Method Detail

init

public void init(@NotNull
                 ParametricCurve curve)

Initialize the interpolator with a curve.

Parameters:

curve - parametric curve

See Also:

curve

internalGet$module

public double internalGet$module(double s,
                                 double t)

internalDeriv$module

public double internalDeriv$module(double s,
                                   double t)

internalSecondDeriv$module

public double internalSecondDeriv$module(double s,
                                         double t)