Navigation/com.amarcolini.joos.path/Path

Path

public final class Path

Path composed of a list of parametric curves and heading interpolators.

Parameters

segments

list of path segments

Constructors

Path

public Path Path(PathSegment segment)

public Path Path(List<PathSegment> segments)

Properties

segments

private final List<PathSegment> segments

Functions

compositeProject

public final Pair<Double, ParametricCurve> compositeProject(Vector2d queryPoint)

Projects queryPoint onto the current path by calling ParametricCurve.project on every segment and comparing the results. May be faster or slower than fastProject depending on the path.

curvature

@JvmOverloads()

public final Double curvature(Double s)

@JvmOverloads()

public final Double curvature(Double s, Double t)

deriv

@JvmOverloads()

public final Pose2d deriv(Double s)

@JvmOverloads()

public final Pose2d deriv(Double s, Double t)

Returns the pose derivative s units along the path.

end

public final Pose2d end()

Returns the end pose.

endDeriv

public final Pose2d endDeriv()

Returns the end pose derivative.

endSecondDeriv

public final Pose2d endSecondDeriv()

Returns the end pose second derivative.

fastProject

public final Double fastProject(Vector2d queryPoint, Double projectGuess, Integer iterations)

Project queryPoint onto the current path using the iterative method described here.

get

@JvmOverloads()

public final Pose2d get(Double s)

@JvmOverloads()

public final Pose2d get(Double s, Double t)

Returns the pose s units along the path.

getSegments

public final List<PathSegment> getSegments()

internalDeriv

@JvmOverloads()

public final Pose2d internalDeriv(Double s)

@JvmOverloads()

public final Pose2d internalDeriv(Double s, Double t)

internalGet

public final Pose2d internalGet(Integer segmentIndex, Double t)

Returns the pose along the segment specified by segmentIndex at the internal parameter t.

internalSecondDeriv

@JvmOverloads()

public final Pose2d internalSecondDeriv(Double s)

@JvmOverloads()

public final Pose2d internalSecondDeriv(Double s, Double t)

length

public final Double length()

Returns the length of the path.

project

public final Double project(Vector2d queryPoint, Double ds)

Project queryPoint onto the current path by applying fastProject with various guesses along the path.

reparam

public final Double reparam(Double s)

reparameterize

public final Unit reparameterize()

Calls ParametricCurve.reparameterize on all the curves in this path.

secondDeriv

@JvmOverloads()

public final Pose2d secondDeriv(Double s)

@JvmOverloads()

public final Pose2d secondDeriv(Double s, Double t)

Returns the pose second derivative s units along the path.

segment

public final Pair<PathSegment, Double> segment(Double s)

Returns a pair containing the PathSegment at s inches along the path and the length along that segment.

start

public final Pose2d start()

Returns the start pose.

startDeriv

public final Pose2d startDeriv()

Returns the start pose derivative.

startSecondDeriv

public final Pose2d startSecondDeriv()

Returns the start pose second derivative.

tangentAngle

@JvmOverloads()

public final Angle tangentAngle(Double s)

@JvmOverloads()

public final Angle tangentAngle(Double s, Double t)

Returns the angle of the tangent line s units along the path.