Navigation/com.amarcolini.joos.path.heading

Package-level declarations

A collection of heading interpolators for paths

Types

ConstantHeading

@Serializable

object ConstantHeading : HeadingInterpolation

ConstantInterpolator

class ConstantInterpolator(val heading: Angle) : HeadingInterpolator

Constant heading interpolator used for arbitrary holonomic translations.

HeadingInterpolation

@Serializable

interface HeadingInterpolation

HeadingInterpolator

abstract class HeadingInterpolator

Interpolator for specifying the heading for holonomic paths.

@Serializable

data class LinearHeading(var target: Angle) : HeadingInterpolation, ValueHeading

LinearInterpolator

class LinearInterpolator(startHeading: Angle, angle: Angle) : HeadingInterpolator

Linear heading interpolator for time-optimal transitions between poses.

@Serializable

data class SplineHeading(var target: Angle) : HeadingInterpolation, ValueHeading

SplineInterpolator

class SplineInterpolator @JvmOverloads constructor(startHeading: Angle, endHeading: Angle, startHeadingDeriv: Angle? = null, startHeadingSecondDeriv: Angle? = null, endHeadingDeriv: Angle? = null, endHeadingSecondDeriv: Angle? = null) : HeadingInterpolator

Spline heading interpolator for transitioning smoothly between headings without violating continuity (and hence allowing for integration into longer profiles).

@Serializable

object TangentHeading : HeadingInterpolation

TangentInterpolator

class TangentInterpolator @JvmOverloads constructor(val offset: Angle = 0.rad) : HeadingInterpolator

Tangent (system) interpolator for tank/differential and other nonholonomic drives.

interface ValueHeading