Navigation/com.amarcolini.joos.path/PositionPath

PositionPath

public final class PositionPath

Path composed of a list of parametric curves.

Parameters

segments

list of curves.

Constructors

PositionPath

public PositionPath PositionPath(ParametricCurve segment)

public PositionPath PositionPath(List<ParametricCurve> segments)

Properties

segments

private final List<ParametricCurve> 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 Vector2d deriv(Double s)

@JvmOverloads()

public final Vector2d deriv(Double s, Double t)

Returns the position derivative s units along the path.

end

public final Vector2d end()

Returns the end position.

endDeriv

public final Vector2d endDeriv()

Returns the end position derivative.

endSecondDeriv

public final Vector2d endSecondDeriv()

Returns the end position 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 Vector2d get(Double s)

@JvmOverloads()

public final Vector2d get(Double s, Double t)

Returns the position s units along the path.

getSegments

public final List<ParametricCurve> getSegments()

internalDeriv

@JvmOverloads()

public final Vector2d internalDeriv(Double s)

@JvmOverloads()

public final Vector2d internalDeriv(Double s, Double t)

internalGet

public final Vector2d internalGet(Integer segmentIndex, Double t)

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

internalSecondDeriv

@JvmOverloads()

public final Vector2d internalSecondDeriv(Double s)

@JvmOverloads()

public final Vector2d 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 Vector2d secondDeriv(Double s)

@JvmOverloads()

public final Vector2d secondDeriv(Double s, Double t)

Returns the position second derivative s units along the path.

segment

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

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

start

public final Vector2d start()

Returns the start position.

startDeriv

public final Vector2d startDeriv()

Returns the start position derivative.

startSecondDeriv

public final Vector2d startSecondDeriv()

Returns the start position 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.