core / com.acmerobotics.roadrunner.path / ParametricCurve

ParametricCurve

abstract class ParametricCurve (source)

Parametric curve with two components (x and y). These curves are reparameterized from an internal parameter (t) to the arc length parameter (s).

Constructors

<init>

Parametric curve with two components (x and y). These curves are reparameterized from an internal parameter (t) to the arc length parameter (s).

ParametricCurve()

Functions

deriv

Returns the derivative s units along the curve.

fun deriv(s: Double, t: Double = reparam(s)): Vector2d

end

Returns the end vector.

fun end(): Vector2d

endDeriv

Returns the end derivative.

fun endDeriv(): Vector2d

endSecondDeriv

Returns the end second derivative.

fun endSecondDeriv(): Vector2d

endThirdDeriv

Returns the end third derivative.

fun endThirdDeriv(): Vector2d

get

Returns the vector s units along the curve.

operator fun get(s: Double, t: Double = reparam(s)): Vector2d

length

Returns the length of the curve.

abstract fun length(): Double

secondDeriv

Returns the second derivative s units along the curve.

fun secondDeriv(s: Double, t: Double = reparam(s)): Vector2d

start

Returns the start vector.

fun start(): Vector2d

startDeriv

Returns the start derivative.

fun startDeriv(): Vector2d

startSecondDeriv

Returns the start second derivative.

fun startSecondDeriv(): Vector2d

startThirdDeriv

Returns the start third derivative.

fun startThirdDeriv(): Vector2d

tangentAngle

Returns the angle of the tangent line s units along the curve.

fun tangentAngle(s: Double, t: Double = reparam(s)): Double

tangentAngleDeriv

Returns the derivative of the tangent angle s units along the curve.

fun tangentAngleDeriv(s: Double, t: Double = reparam(s)): Double

tangentAngleSecondDeriv

Returns the second derivative of the tangent angle s units along the curve.

fun tangentAngleSecondDeriv(s: Double, t: Double = reparam(s)): Double

thirdDeriv

Returns the third derivative s units along the curve.

fun thirdDeriv(s: Double, t: Double = reparam(s)): Vector2d

Inheritors

LineSegment

Parametric representation of a line.

class LineSegment : ParametricCurve

QuinticSpline

Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details.

class QuinticSpline : ParametricCurve