Navigation/com.amarcolini.joos.path/Path

Path

class Path(val segments: List<PathSegment>)

Path composed of a list of parametric curves and heading interpolators.

Parameters

segments

list of path segments

Constructors

Path

constructor(segment: PathSegment)

constructor(segments: List<PathSegment>)

Properties

segments

val segments: List<PathSegment>

Functions

compositeProject

fun compositeProject(queryPoint: Vector2d): Pair<Double, ParametricCurve>

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

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

deriv

@JvmOverloads

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

Returns the pose derivative s units along the path.

end

fun end(): Pose2d

Returns the end pose.

endDeriv

fun endDeriv(): Pose2d

Returns the end pose derivative.

endSecondDeriv

fun endSecondDeriv(): Pose2d

Returns the end pose second derivative.

fastProject

fun fastProject(queryPoint: Vector2d, projectGuess: Double = length() / 2.0, iterations: Int = 10): Double

Project queryPoint onto the current path using the iterative method described here.

get

@JvmOverloads

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

Returns the pose s units along the path.

internalDeriv

@JvmOverloads

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

internalGet

fun internalGet(segmentIndex: Int, t: Double): Pose2d

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

internalSecondDeriv

@JvmOverloads

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

length

fun length(): Double

Returns the length of the path.

project

fun project(queryPoint: Vector2d, ds: Double = 3.0): Double

Project queryPoint onto the current path by applying fastProject with various guesses along the path.

reparam

fun reparam(s: Double): Double

reparameterize

fun reparameterize()

Calls ParametricCurve.reparameterize on all the curves in this path.

secondDeriv

@JvmOverloads

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

Returns the pose second derivative s units along the path.

segment

fun segment(s: Double): Pair<PathSegment, Double>

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

start

fun start(): Pose2d

Returns the start pose.

startDeriv

fun startDeriv(): Pose2d

Returns the start pose derivative.

startSecondDeriv

fun startSecondDeriv(): Pose2d

Returns the start pose second derivative.

tangentAngle

@JvmOverloads

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

Returns the angle of the tangent line s units along the path.