abstract class HeadingInterpolator (source)
Interpolator for specifying the heading for holonomic paths.
<init> |
Interpolator for specifying the heading for holonomic paths. HeadingInterpolator() |
curve |
Base parametric curve lateinit var curve: ParametricCurve |
deriv |
Returns the heading derivative at the specified s. fun deriv(s: Double, t: Double = curve.reparam(s)): Double |
end |
Returns the end heading. fun end(): Double |
endDeriv |
Returns the end heading derivative. fun endDeriv(): Double |
endSecondDeriv |
Returns the end heading second derivative. fun endSecondDeriv(): Double |
get |
Returns the heading at the specified s. operator fun get(s: Double, t: Double = curve.reparam(s)): Double |
init |
Initialize the interpolator with a curve. open fun init(curve: ParametricCurve): Unit |
secondDeriv |
Returns the heading second derivative at the specified s. fun secondDeriv(s: Double, t: Double = curve.reparam(s)): Double |
start |
Returns the start heading. fun start(): Double |
startDeriv |
Returns the start heading derivative. fun startDeriv(): Double |
startSecondDeriv |
Returns the start heading second derivative. fun startSecondDeriv(): Double |
ConstantInterpolator |
Constant heading interpolator used for arbitrary holonomic translations. class ConstantInterpolator : 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 |