Type hierarchy for representing 2D holonomic robot paths (x, y, and heading components).
LineSegment |
Parametric representation of a line. class LineSegment : ParametricCurve |
ParametricCurve |
Parametric curve with two components (x and y). These curves are reparameterized from an internal parameter (t) to the arc length parameter (s). abstract class ParametricCurve |
Path |
Path composed of a list of parametric curves and heading interpolators. class Path |
PathBuilder |
Easy-to-use builder for creating Path instances. class PathBuilder |
PathSegment |
Path segment composed of a parametric curve and heading interpolator. class PathSegment |
QuinticPolynomial |
Quintic polynomial interpolated according to the provided derivatives. class QuinticPolynomial |
QuinticSpline |
Combination of two quintic polynomials into a 2D quintic spline. See this short paper for some motivation and implementation details. class QuinticSpline : ParametricCurve |
EmptyPathSegmentException |
Exception thrown when empty path segments are requested. class EmptyPathSegmentException : PathBuilderException |
PathBuilderException |
Exception thrown by PathBuilder. abstract class PathBuilderException : RuntimeException |
PathContinuityViolationException |
Exception thrown when PathBuilder methods are chained illegally. This commonly arises when switching from non-tangent interpolation back to tangent interpolation and when splicing paths. class PathContinuityViolationException : PathBuilderException |