core/com.acmerobotics.roadrunner.paths/BezierCurve2dInternal

BezierCurve2dInternal

@Serializable
@SerialName(value = "BezierCurve2d")
class BezierCurve2dInternal(val x: BezierCurve1d, val y: BezierCurve1d) : PositionPath<Internal>

Constructors

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constructor(xs: List<Double>, ys: List<Double>)
constructor(points: List<Vector2d>)
constructor(x: BezierCurve1d, y: BezierCurve1d)

Types

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object Companion

Properties

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val length: Double = 1.0
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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(t: 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.