core/com.acmerobotics.roadrunner.geometry

Package-level declarations

Types

Acceleration2d

@Serializable

data class Acceleration2d(val linearAcc: Vector2d, val angAcc: Double)

Arclength

@Serializable

class Arclength : DualParameter

Arclength parameter for DualNum

DualNum

@Serializable

class DualNum<Param : DualParameter>(values: DoubleArray)

DualParameter

sealed interface DualParameter

IntegralScanResult

@Serializable

data class IntegralScanResult(val values: List<Double>, val sums: List<Double>)

Internal

@Serializable

class Internal : DualParameter

Parameter for DualNum for internal use only.

Matrix

class Matrix(data: Array<DoubleArray>)

Represents a matrix of doubles. Internally represented as a SimpleMatrix from EJML.

MinMax

data class MinMax(val min: Double, val max: Double)

Pose2d

@Serializable

data class Pose2d(val position: Vector2d, val heading: Rotation2d)

Pose2dDual

@Serializable

data class Pose2dDual<Param : DualParameter>(val position: Vector2dDual<Param>, val heading: Rotation2dDual<Param>)

Dual version of Pose2d.

PoseVelocity2d

@Serializable

data class PoseVelocity2d(val linearVel: Vector2d, val angVel: Double)

PoseVelocity2dDual

@Serializable

data class PoseVelocity2dDual<Param : DualParameter>(val linearVel: Vector2dDual<Param>, val angVel: DualNum<Param>)

Dual version of PoseVelocity2d.

RobotState

data class RobotState(val pose: Pose2d, val vel: PoseVelocity2d, val accel: Acceleration2d)

Represents a robot's pose on the field at a given time.

Rotation2d

@Serializable

data class Rotation2d(val real: Double, val imag: Double)

Rotation2dDual

@Serializable

data class Rotation2dDual<Param : DualParameter>(val real: DualNum<Param>, val imag: DualNum<Param>)

Dual version of Rotation2d.

Time

@Serializable

class Time : DualParameter

Time parameter for DualNum

Twist2d

@Serializable

data class Twist2d(val line: Vector2d, val angle: Double)

Twist2dDual

@Serializable

data class Twist2dDual<Param : DualParameter>(val line: Vector2dDual<Param>, val angle: DualNum<Param>)

Vector2d

@Serializable

data class Vector2d(val x: Double, val y: Double)

Vector2dDual

@Serializable

data class Vector2dDual<Param : DualParameter>(val x: DualNum<Param>, val y: DualNum<Param>)

Dual version of Vector2d.

Functions

atan2

fun <Param : DualParameter> atan2(y: DualNum<Param>, x: DualNum<Param>): DualNum<Param>

clamp

fun clamp(x: Double, lo: Double, hi: Double): Double

dva

fun List<Vector2dDual<*>>.dva(): List<Triple<Double, Double, Double>>

fact

fun Int.fact(): Int

integralScan

fun integralScan(a: Double, b: Double, eps: Double, f: (Double) -> Double): IntegralScanResult

lerp

fun lerp(x: Double, fromLo: Double, fromHi: Double, toLo: Double, toHi: Double): Double

lerpDual

fun <Param : DualParameter> lerpDual(x: Double, fromLo: Double, fromHi: Double, toLo: DualNum<Param>, toHi: DualNum<Param>): DualNum<Param>

lerpLookup

fun lerpLookup(source: List<Double>, target: List<Double>, query: Double): Double

lerpLookupMap

fun lerpLookupMap(source: List<Double>, target: List<Double>, queries: List<Double>): List<Double>

lerpMatrix

fun lerpMatrix(start: Matrix, end: Matrix, t: Double): Matrix

lerpMatrixLookup

fun lerpMatrixLookup(times: List<Double>, matrices: List<Matrix>, query: Double): Matrix

lerpPose2d

fun lerpPose2d(start: Pose2d, end: Pose2d, t: Double): Pose2d

Linearly interpolates between two Pose2d objects.

lerpPose2dDual

fun <Param : DualParameter> lerpPose2dDual(start: Pose2dDual<Param>, end: Pose2dDual<Param>, t: Double): Pose2dDual<Param>

lerpPoseLookup

fun lerpPoseLookup(times: List<Double>, poses: List<Pose2d>, query: Double): Pose2d

lerpPoseLookupDual

fun <Param : DualParameter> lerpPoseLookupDual(times: List<Double>, poses: List<Pose2dDual<Param>>, query: Double): Pose2dDual<Param>

lerpRotation2d

fun lerpRotation2d(start: Rotation2d, end: Rotation2d, t: Double): Rotation2d

Linearly interpolates an angle, handling wrap-around.

lerpRotation2dDual

fun <Param : DualParameter> lerpRotation2dDual(start: Rotation2dDual<Param>, end: Rotation2dDual<Param>, t: Double): Rotation2dDual<Param>

lerpVector2d

fun lerpVector2d(start: Vector2d, end: Vector2d, t: Double): Vector2d

Linearly interpolates between two Vector2d objects.

lerpVector2dDual

fun <Param : DualParameter> lerpVector2dDual(start: Vector2dDual<Param>, end: Vector2dDual<Param>, t: Double): Vector2dDual<Param>

makeBrysonMatrix

fun makeBrysonMatrix(vararg tolerances: Double): Matrix

Creates a cost matrix from the given tolerances using Bryson's rule.

range

fun range(begin: Double, end: Double, samples: Int): List<Double>

rangeCentered

fun rangeCentered(begin: Double, end: Double, samples: Int): List<Double>

snz

fun snz(x: Double): Double

solveMatrices

fun solveMatrices(a: Matrix, b: Matrix): Matrix

Solves for X in the equation \(aX = b)\.

unzip

fun <A, B, C> Iterable<Triple<A, B, C>>.unzip(): Triple<List<A>, List<B>, List<C>>

fun List<Vector2d>.xs(): List<Double>

xsDual

fun <Param : DualParameter> List<Vector2dDual<Param>>.xsDual(): List<DualNum<Param>>

fun List<Vector2d>.ys(): List<Double>

ysDual

fun <Param : DualParameter> List<Vector2dDual<Param>>.ysDual(): List<DualNum<Param>>