core/gay.zharel.hermes.paths

Package-level declarations

Types

@Serializable

@SerialName(value = "ArclengthReparamPath")

data class ArclengthReparamCurve2d(val curve: PositionPath<*>, val samples: IntegralScanResult) : PositionPath<Arclength>

Arclength reparameterization of curve.

BezierCurve1d

@Serializable

data class BezierCurve1d(val coefficients: List<Double>)

BezierCurve2dInternal

@Serializable

@SerialName(value = "BezierCurve2d")

class BezierCurve2dInternal(val x: BezierCurve1d, val y: BezierCurve1d) : PositionPath<Internal>

CompositePosePath

@Serializable

@SerialName(value = "CompositePosePath")

data class CompositePosePath(val paths: List<PosePath>, val offsets: List<Double> = paths.scan(0.0) { acc, path -> acc + path.length() }) : PosePath

CompositePositionPath

@Serializable

@SerialName(value = "CompositePositionPath")

data class CompositePositionPath<Param : DualParameter> @JvmOverloads constructor(val paths: List<PositionPath<Param>>, val offsets: List<Double> = paths.scan(0.0) { acc, path -> acc + path.length() }) : PositionPath<Param>

ConstantHeadingPath

@Serializable

data class ConstantHeadingPath(val heading: Rotation2d, val length: Double) : HeadingPath

HeadingPath

interface HeadingPath

HeadingPosePath

@Serializable

@SerialName(value = "HeadingPath")

data class HeadingPosePath(val posPath: PositionPath<Arclength>, val headingPath: HeadingPath) : PosePath

IdentityPoseMap

@Serializable

@SerialName(value = "IdentityPoseMap")

object IdentityPoseMap : PoseMap

Line

@Serializable

@SerialName(value = "Line")

data class Line(val begin: Vector2d, val dir: Vector2d, val length: Double) : PositionPath<Arclength>

Line beginning at position begin, pointed in direction dir, and having length length.

LinearHeadingPath

@Serializable

data class LinearHeadingPath(val begin: Rotation2d, val angle: Double, val length: Double) : HeadingPath

MappedPosePath

@Serializable

@SerialName(value = "MappedPosePath")

data class MappedPosePath(val basePath: PosePath, val poseMap: PoseMap) : PosePath

OffsetPosePath

@Serializable

@SerialName(value = "OffsetPosePath")

class OffsetPosePath(val path: PosePath, val offsets: List<Double> = listOf(0.0, path.length())) : PosePath

PoseMap

fun interface PoseMap

PosePath

interface PosePath

PositionPath

interface PositionPath<Param : DualParameter>

PositionPathView

@Serializable

@SerialName(value = "PositionPathView")

data class PositionPathView<Param : DualParameter>(val path: PositionPath<Param>, val offset: Double, val length: Double) : PositionPath<Param>

QuinticSpline1d

@Serializable

data class QuinticSpline1d(val a: Double, val b: Double, val c: Double, val d: Double, val e: Double, val f: Double)

QuinticSpline2dInternal

@Serializable

@SerialName(value = "QuinticSpline2d")

data class QuinticSpline2dInternal(val x: QuinticSpline1d, val y: QuinticSpline1d) : PositionPath<Internal>

Path comprised of two QuinticSpline1ds.

SplineHeadingPath

@Serializable

data class SplineHeadingPath(val begin: Rotation2d, val spline: QuinticSpline1d, val length: Double) : HeadingPath

TangentHeadingPath

data class TangentHeadingPath(val posPath: PositionPath<Arclength>, val offset: Double = 0.0) : HeadingPath

TangentPath

@Serializable

@SerialName(value = "TangentPath")

data class TangentPath(val path: PositionPath<Arclength>, val offset: Double) : PosePath

TurnPath

class TurnPath(val position: Vector2d, val headingPath: HeadingPath) : PosePath

Functions

dual

fun Rotation2d.dual(): Rotation2dDual<Arclength>

fromPoints

fun fromPoints(vararg points: Vector2d): ArclengthReparamCurve2d

fun fromPoints(points: List<Vector2d>): ArclengthReparamCurve2d

project

fun project(path: PositionPath<Arclength>, query: Vector2d, init: Double): Double

Project position query onto position path path starting with initial guess init.

toRotation

fun Double.toRotation(): Rotation2d