com.acmerobotics.roadrunner.path.heading

Class WiggleInterpolator

HeadingInterpolator

com.acmerobotics.roadrunner.path.heading.WiggleInterpolator

public class WiggleInterpolator
extends HeadingInterpolator

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.

Constructor Detail

WiggleInterpolator

public WiggleInterpolator(double amplitude,
                          double desiredPeriod,
                          @NotNull
                          HeadingInterpolator baseInterpolator)

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.

Parameters:

amplitude - amplitude of the wiggle oscillations

desiredPeriod - period fo the wiggle oscillations

baseInterpolator - base interpolator to add oscillations to (e.g., oscillations relative to the tangent)

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)