Navigation/com.amarcolini.joos.path/PositionPath

PositionPath

class PositionPath(val segments: List<ParametricCurve>)

Path composed of a list of parametric curves.

Parameters

segments

list of curves.

Constructors

PositionPath

constructor(segment: ParametricCurve)

constructor(segments: List<ParametricCurve>)

Properties

segments

val segments: List<ParametricCurve>

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)): Vector2d

Returns the position derivative s units along the path.

end

fun end(): Vector2d

Returns the end position.

endDeriv

fun endDeriv(): Vector2d

Returns the end position derivative.

endSecondDeriv

fun endSecondDeriv(): Vector2d

Returns the end position 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)): Vector2d

Returns the position s units along the path.

internalDeriv

@JvmOverloads

fun internalDeriv(s: Double, t: Double = reparam(s)): Vector2d

internalGet

fun internalGet(segmentIndex: Int, t: Double): Vector2d

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

internalSecondDeriv

@JvmOverloads

fun internalSecondDeriv(s: Double, t: Double = reparam(s)): Vector2d

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)): Vector2d

Returns the position second derivative s units along the path.

segment

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

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

start

fun start(): Vector2d

Returns the start position.

startDeriv

fun startDeriv(): Vector2d

Returns the start position derivative.

startSecondDeriv

fun startSecondDeriv(): Vector2d

Returns the start position 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.