Navigation/com.amarcolini.joos.path/PathSegment

PathSegment

class PathSegment @JvmOverloads constructor(val curve: ParametricCurve, val interpolator: HeadingInterpolator = TangentInterpolator())

Path segment composed of a parametric curve and heading interpolator.

Parameters

curve

parametric curve

interpolator

heading interpolator

Constructors

constructor(curve: ParametricCurve, interpolator: HeadingInterpolator = TangentInterpolator())

Properties

val curve: ParametricCurve

val interpolator: HeadingInterpolator

Functions

fun curvature(s: Double, t: Double = reparam(s)): Double

fun deriv(s: Double, t: Double = reparam(s)): Pose2d

fun end(): Pose2d

Returns the end pose.

fun endDeriv(): Pose2d

Returns the end pose derivative.

fun endSecondDeriv(): Pose2d

Returns the end pose second derivative.

endTangentAngle

fun endTangentAngle(): Angle

Returns the end tangent angle.

operator fun get(s: Double, t: Double = reparam(s)): Pose2d

fun internalDeriv(s: Double, t: Double = reparam(s)): Pose2d

fun length(): Double

fun reparam(s: Double): Double

fun secondDeriv(s: Double, t: Double = reparam(s)): Pose2d

fun start(): Pose2d

Returns the start pose.

fun startDeriv(): Pose2d

Returns the start pose derivative.

startSecondDeriv

fun startSecondDeriv(): Pose2d

Returns the start pose second derivative.

startTangentAngle

fun startTangentAngle(): Angle

Returns the start tangent angle.

fun tangentAngle(s: Double, t: Double = reparam(s)): Angle