0.2.1

core/com.acmerobotics.roadrunner.paths/ArclengthReparamCurve2d

ArclengthReparamCurve2d

@Serializable

@SerialName(value = "ArclengthReparamPath")

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

Arclength reparameterization of curve.

Constructors

ArclengthReparamCurve2d

constructor(curve: PositionPath<*>, eps: Double)

constructor(curve: PositionPath<*>, samples: IntegralScanResult)

Properties

val curve: PositionPath<*>

val length: Double

val samples: IntegralScanResult

Functions

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

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

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

open override fun length(): Double

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

fun reparam(s: Double): 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.