Navigation/com.amarcolini.joos.path

Package-level declarations

Path definitions

Types

CircularArc

class CircularArc(val center: Vector2d, val radius: Double, startAngle: Angle, endAngle: Angle) : ParametricCurve

EmptyPathSegmentException

class EmptyPathSegmentException : PathBuilderException

Exception thrown when empty path segments are requested.

LineSegment

class LineSegment(start: Vector2d, end: Vector2d) : ParametricCurve

Parametric representation of a line.

ParametricCurve

abstract class ParametricCurve

Parametric curve with two components (x and y). These curves are reparameterized from an internal parameter (t) to the arc length parameter (s). Note that the arc length reparameterization is lazy, meaning that it is computed only when needed. To precompute, use reparameterize.

Path

class Path(val segments: List<PathSegment>)

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

PathBuilder

class PathBuilder(startPose: Pose2d, startDeriv: Pose2d, startSecondDeriv: Pose2d)

Easy-to-use builder for creating Path instances.

PathBuilderException

abstract class PathBuilderException : RuntimeException

Exception thrown by PathBuilder and PositionPathBuilder.

PathContinuityViolationException

class PathContinuityViolationException : PathBuilderException

Exception thrown when PathBuilder methods are chained illegally. This commonly arises when switching from non-tangent interpolation back to tangent interpolation and when splicing paths.

PathSegment

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

Path segment composed of a parametric curve and heading interpolator.

PositionPath

class PositionPath(val segments: List<ParametricCurve>)

Path composed of a list of parametric curves.

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.

QuinticPolynomial

class QuinticPolynomial(start: Double, startDeriv: Double, startSecondDeriv: Double, end: Double, endDeriv: Double, endSecondDeriv: Double)

Quintic Bezier Polynomial

QuinticSpline

class QuinticSpline(start: QuinticSpline.Knot, end: QuinticSpline.Knot) : ParametricCurve

Quintic Bezier Spline