com.acmerobotics.roadrunner.path

Class QuinticSpline

ParametricCurve

com.acmerobotics.roadrunner.path.QuinticSpline

public class QuinticSpline
extends ParametricCurve

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

See Also:

this short paper

Constructor Detail

QuinticSpline

public QuinticSpline(@NotNull
                     com.acmerobotics.roadrunner.path.QuinticSpline.Knot start,
                     @NotNull
                     com.acmerobotics.roadrunner.path.QuinticSpline.Knot end,
                     double maxDeltaK,
                     double maxSegmentLength,
                     int maxDepth)

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

Parameters:

start - start waypoint

end - end waypoint

maxDeltaK - maximum change in curvature between arc length param segments

maxSegmentLength - maximum length of a single param segment

maxDepth - maximum stack depth

See Also:

this short paper

Method Detail

getX

@NotNull
public QuinticPolynomial getX()

X polynomial (i.e., x(t))

getY

@NotNull
public QuinticPolynomial getY()

Y polynomial (i.e., y(t))

internalGet$module

@NotNull
public Vector2d internalGet$module(double t)

internalDeriv$module

@NotNull
public Vector2d internalDeriv$module(double t)

internalSecondDeriv$module

@NotNull
public Vector2d internalSecondDeriv$module(double t)

internalThirdDeriv$module

@NotNull
public Vector2d internalThirdDeriv$module(double t)

reparam$module

public double reparam$module(double s)

paramDeriv$module

public double paramDeriv$module(double t)

paramSecondDeriv$module

public double paramSecondDeriv$module(double t)

paramThirdDeriv$module

public double paramThirdDeriv$module(double t)

length

public double length()

Returns the length of the curve.

toString

@NotNull
public java.lang.String toString()