core/com.acmerobotics.roadrunner.paths/QuinticSpline2dInternal

QuinticSpline2dInternal

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

Path comprised of two QuinticSpline1ds.

Constructors

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constructor(begin: Vector2dDual<Internal>, end: Vector2dDual<Internal>)
constructor(x: QuinticSpline1d, y: QuinticSpline1d)

Properties

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Functions

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open fun begin(n: Int): Vector2dDual<Internal>
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open fun end(n: Int): Vector2dDual<Internal>
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open operator override fun get(param: Double, n: Int): Vector2dDual<Internal>
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open override fun length(): Double
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open fun project(query: Vector2d, init: Double = 0.0): Double
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open fun withConstantHeading(heading: Rotation2d): HeadingPosePath
open fun withConstantHeading(heading: Double): HeadingPosePath

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

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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.

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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.

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open fun withTangentHeading(): TangentPath

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