core / com.acmerobotics.roadrunner.path.heading

Package com.acmerobotics.roadrunner.path.heading

A set of interpolators that describe how the robot's heading changes along a path.

Types

ConstantInterpolator

Constant heading interpolator used for arbitrary holonomic translations.

class ConstantInterpolator : HeadingInterpolator

HeadingInterpolator

Interpolator for specifying the heading for holonomic paths.

abstract class HeadingInterpolator

LinearInterpolator

Linear heading interpolator for time-optimal transitions between poses.

class LinearInterpolator : HeadingInterpolator

SplineInterpolator

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

class SplineInterpolator : HeadingInterpolator

TangentInterpolator

Tangent (system) interpolator for tank/differential and other nonholonomic drives.

class TangentInterpolator : HeadingInterpolator

WiggleInterpolator

Heading interpolator that wraps another interpolator and adds sinusoidal oscillations ("wiggles") while preserving continuity. More specifically, the wiggle function is composed of a sine wave with a quintic spline on either end.

class WiggleInterpolator : HeadingInterpolator