Navigation/com.amarcolini.joos.trajectory/TurnSegment

TurnSegment

class TurnSegment(pose: Pose2d, profile: MotionProfile) : TrajectorySegment

Trajectory segment representing a point turn.

Parameters

pose

start pose

profile

heading motion profile, where heading is specified in radians

Constructors

constructor(pose: Pose2d, profile: MotionProfile)

Functions

open override fun acceleration(time: Double): Pose2d

open override fun deriv(time: Double): Pose2d

open override fun distance(time: Double): Double

open override fun duration(): Double

open override fun end(): Pose2d

open operator override fun get(time: Double): Pose2d

open override fun length(): Double

open override fun secondDeriv(time: Double): Pose2d

open override fun start(): Pose2d

open override fun velocity(time: Double): Pose2d