core

0.1.0

core/com.acmerobotics.roadrunner.paths/PositionPathView

PositionPathView

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

Constructors

PositionPathView

constructor(path: PositionPath<Param>, offset: Double, length: Double)

Properties

val length: Double

val offset: Double

val path: PositionPath<Param>

Functions

open fun begin(n: Int): Vector2dDual<Param>

open fun end(n: Int): Vector2dDual<Param>

open operator override fun get(param: Double, n: Int): Vector2dDual<Param>

open override fun length(): Double

open fun project(query: Vector2d, init: Double = 0.0): Double

withConstantHeading

open fun withConstantHeading(heading: Rotation2d): HeadingPosePath

open fun withConstantHeading(heading: Double): HeadingPosePath

Creates a PosePath using this path for position and constant heading.

withLinearHeading

open fun withLinearHeading(startHeading: Rotation2d, endHeading: Rotation2d): HeadingPosePath

open fun withLinearHeading(startHeading: Double, endHeading: Double): HeadingPosePath

Creates a PosePath using this path for position and a linear interpolation between startHeading and endHeading for heading.

withSplineHeading

open fun withSplineHeading(startHeading: Rotation2d, endHeading: Rotation2d): HeadingPosePath

open fun withSplineHeading(startHeading: Double, endHeading: Double): HeadingPosePath

Creates a PosePath using this path for position and a linear interpolation between startHeading and endHeading for heading.

withTangentHeading

open fun withTangentHeading(): TangentPath

Creates a PosePath using this path for position and its tangent for heading.