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

HeadingInterpolator

abstract class HeadingInterpolator

Interpolator for specifying the heading for holonomic paths.

Inheritors

Constructors

Link copied to clipboard
constructor()

Properties

Link copied to clipboard
protected lateinit var curve: ParametricCurve

Base parametric curve

Functions

Link copied to clipboard
@JvmOverloads
fun deriv(s: Double, t: Double = curve.reparam(s)): Angle

Returns the heading derivative at the specified s.

Link copied to clipboard
fun end(): Angle

Returns the end heading.

Link copied to clipboard
fun endDeriv(): Angle

Returns the end heading derivative.

Link copied to clipboard
fun endSecondDeriv(): Angle

Returns the end heading second derivative.

Link copied to clipboard
@JvmOverloads
operator fun get(s: Double, t: Double = curve.reparam(s)): Angle

Returns the heading at the specified s.

Link copied to clipboard
open fun init(curve: ParametricCurve)

Initialize the interpolator with a curve.

Link copied to clipboard
@JvmOverloads
fun secondDeriv(s: Double, t: Double = curve.reparam(s)): Angle

Returns the heading second derivative at the specified s.

Link copied to clipboard
fun start(): Angle

Returns the start heading.

Link copied to clipboard
fun startDeriv(): Angle

Returns the start heading derivative.

Link copied to clipboard
fun startSecondDeriv(): Angle

Returns the start heading second derivative.