Navigation/com.amarcolini.joos.path/PathSegment

PathSegment

public final class PathSegment

Path segment composed of a parametric curve and heading interpolator.

Parameters

curve

parametric curve

interpolator

heading interpolator

Constructors

@JvmOverloads()

public PathSegment PathSegment(ParametricCurve curve, HeadingInterpolator interpolator)

@JvmOverloads()

public PathSegment PathSegment(ParametricCurve curve)

Properties

private final ParametricCurve curve

private final HeadingInterpolator interpolator

Functions

@JvmOverloads()

public final Double curvature(Double s)

@JvmOverloads()

public final Double curvature(Double s, Double t)

@JvmOverloads()

public final Pose2d deriv(Double s)

@JvmOverloads()

public final Pose2d deriv(Double s, Double t)

public final Pose2d end()

Returns the end pose.

public final Pose2d endDeriv()

Returns the end pose derivative.

public final Pose2d endSecondDeriv()

Returns the end pose second derivative.

endTangentAngle

public final Angle endTangentAngle()

Returns the end tangent angle.

@JvmOverloads()

public final Pose2d get(Double s)

@JvmOverloads()

public final Pose2d get(Double s, Double t)

public final ParametricCurve getCurve()

getInterpolator

public final HeadingInterpolator getInterpolator()

@JvmOverloads()

public final Pose2d internalDeriv(Double s)

@JvmOverloads()

public final Pose2d internalDeriv(Double s, Double t)

public final Double length()

public final Double reparam(Double s)

@JvmOverloads()

public final Pose2d secondDeriv(Double s)

@JvmOverloads()

public final Pose2d secondDeriv(Double s, Double t)

public final Pose2d start()

Returns the start pose.

public final Pose2d startDeriv()

Returns the start pose derivative.

startSecondDeriv

public final Pose2d startSecondDeriv()

Returns the start pose second derivative.

startTangentAngle

public final Angle startTangentAngle()

Returns the start tangent angle.

@JvmOverloads()

public final Angle tangentAngle(Double s)

@JvmOverloads()

public final Angle tangentAngle(Double s, Double t)