Navigation/com.amarcolini.joos.path/PositionPathBuilder

PositionPathBuilder

public final class PositionPathBuilder

Easy-to-use builder for creating PositionPath instances. Note that this builder does not respect tangent continuity.

Parameters

startPos

start position

startDeriv

start derivative

startSecondDeriv

start second derivative

See also

Constructors

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public PositionPathBuilder PositionPathBuilder(Vector2d startPos, Angle startTangent)
public PositionPathBuilder PositionPathBuilder(PositionPath path, Double s)
public PositionPathBuilder PositionPathBuilder(Vector2d startPos, Vector2d startDeriv, Vector2d startSecondDeriv)

Functions

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public final PositionPathBuilder back(Double distance)

Adds a line straight backward.

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public final PositionPath build()

Constructs the PositionPath instance.

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public final PositionPathBuilder forward(Double distance)

Adds a line straight forward.

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public final PositionPathBuilder left(Double distance)

Adds a segment that travels left in the robot reference frame.

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public final PositionPathBuilder lineTo(Vector2d endPosition)

Adds a line segment with tangent heading interpolation.

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public final PositionPath preBuild()

Constructs the Path instance without reparameterizing the curves.

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public final PositionPathBuilder right(Double distance)

Adds a segment that travels right in the robot reference frame.

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@JvmOverloads()
public final PositionPathBuilder splineTo(Vector2d endPosition, Angle endTangent)
@JvmOverloads()
public final PositionPathBuilder splineTo(Vector2d endPosition, Angle endTangent, Double startTangentMag)
@JvmOverloads()
public final PositionPathBuilder splineTo(Vector2d endPosition, Angle endTangent, Double startTangentMag, Double endTangentMag)

Adds a spline segment.

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public final PositionPathBuilder turn(Angle angle, Double radius)

Adds a CircularArc segment that turns angle.

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public final PositionPathBuilder turnLeft(Angle angle, Double radius)
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public final PositionPathBuilder turnRight(Angle angle, Double radius)