Navigation/com.amarcolini.joos.path/PositionPathBuilder

PositionPathBuilder

class PositionPathBuilder(startPos: Vector2d, startDeriv: Vector2d, startSecondDeriv: Vector2d)

Easy-to-use builder for creating PositionPath instances. Note that this builder does not respect tangent continuity.

Parameters

startPos

start position

startDeriv

start derivative

startSecondDeriv

start second derivative

See also

Constructors

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constructor(startPos: Vector2d, startTangent: Angle)
constructor(path: PositionPath, s: Double)
constructor(startPos: Vector2d, startDeriv: Vector2d, startSecondDeriv: Vector2d)

Functions

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fun back(distance: Double): PositionPathBuilder

Adds a line straight backward.

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fun build(): PositionPath

Constructs the PositionPath instance.

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fun forward(distance: Double): PositionPathBuilder

Adds a line straight forward.

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fun left(distance: Double): PositionPathBuilder

Adds a segment that travels left in the robot reference frame.

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fun lineTo(endPosition: Vector2d): PositionPathBuilder

Adds a line segment with tangent heading interpolation.

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fun preBuild(): PositionPath

Constructs the Path instance without reparameterizing the curves.

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fun right(distance: Double): PositionPathBuilder

Adds a segment that travels right in the robot reference frame.

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@JvmOverloads
fun splineTo(endPosition: Vector2d, endTangent: Angle, startTangentMag: Double = -1.0, endTangentMag: Double = -1.0): PositionPathBuilder

Adds a spline segment.

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fun turn(angle: Angle, radius: Double): PositionPathBuilder

Adds a CircularArc segment that turns angle.

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fun turnLeft(angle: Angle, radius: Double): PositionPathBuilder
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fun turnRight(angle: Angle, radius: Double): PositionPathBuilder