Navigation/com.amarcolini.joos.path.heading/HeadingInterpolator

HeadingInterpolator

public abstract class HeadingInterpolator

Interpolator for specifying the heading for holonomic paths.

Inheritors

Constructors

HeadingInterpolator

public HeadingInterpolator HeadingInterpolator()

Properties

curve

private ParametricCurve curve

Base parametric curve

Functions

deriv

@JvmOverloads()

public final Angle deriv(Double s)

@JvmOverloads()

public final Angle deriv(Double s, Double t)

Returns the heading derivative at the specified s.

end

public final Angle end()

Returns the end heading.

endDeriv

public final Angle endDeriv()

Returns the end heading derivative.

endSecondDeriv

public final Angle endSecondDeriv()

Returns the end heading second derivative.

get

@JvmOverloads()

public final Angle get(Double s)

@JvmOverloads()

public final Angle get(Double s, Double t)

Returns the heading at the specified s.

getCurve

protected final ParametricCurve getCurve()

Base parametric curve

init

public Unit init(ParametricCurve curve)

Initialize the interpolator with a curve.

secondDeriv

@JvmOverloads()

public final Angle secondDeriv(Double s)

@JvmOverloads()

public final Angle secondDeriv(Double s, Double t)

Returns the heading second derivative at the specified s.

setCurve

protected final Unit setCurve(ParametricCurve curve)

Base parametric curve

start

public final Angle start()

Returns the start heading.

startDeriv

public final Angle startDeriv()

Returns the start heading derivative.

startSecondDeriv

public final Angle startSecondDeriv()

Returns the start heading second derivative.