class Path (source)
Path composed of a list of parametric curves and heading interpolators.
segments - list of path segments
<init> |
Path(segment: PathSegment)
Path composed of a list of parametric curves and heading interpolators. Path(segments: List<PathSegment>) |
segments |
list of path segments val segments: List<PathSegment> |
deriv |
Returns the pose derivative s units along the path. fun deriv(s: Double, t: Double = reparam(s)): Pose2d |
end |
Returns the end pose. fun end(): Pose2d |
endDeriv |
Returns the end pose derivative. fun endDeriv(): Pose2d |
endSecondDeriv |
Returns the end pose second derivative. fun endSecondDeriv(): Pose2d |
fastProject |
Project queryPoint onto the current path using the iterative method described here. fun fastProject(queryPoint: Vector2d, projectGuess: Double = length() / 2.0): Double |
get |
Returns the pose s units along the path. operator fun get(s: Double, t: Double = reparam(s)): Pose2d |
length |
Returns the length of the path. fun length(): Double |
project |
Project queryPoint onto the current path by applying fastProject with various guesses along the path. fun project(queryPoint: Vector2d, ds: Double = 0.25): Double |
secondDeriv |
Returns the pose second derivative s units along the path. fun secondDeriv(s: Double, t: Double = reparam(s)): Pose2d |
segment |
fun segment(s: Double): Pair<PathSegment, Double> |
start |
Returns the start pose. fun start(): Pose2d |
startDeriv |
Returns the start pose derivative. fun startDeriv(): Pose2d |
startSecondDeriv |
Returns the start pose second derivative. fun startSecondDeriv(): Pose2d |