0.2.1

core/com.acmerobotics.roadrunner.paths/BezierCurve2dInternal

BezierCurve2dInternal

@Serializable

@SerialName(value = "BezierCurve2d")

class BezierCurve2dInternal(val x: BezierCurve1d, val y: BezierCurve1d) : PositionPath<Internal>

Constructors

BezierCurve2dInternal

constructor(xs: List<Double>, ys: List<Double>)

constructor(points: List<Vector2d>)

constructor(x: BezierCurve1d, y: BezierCurve1d)

Types

object Companion

Properties

val length: Double = 1.0

val x: BezierCurve1d

val y: BezierCurve1d

Functions

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

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

open operator override fun get(t: Double, n: Int): Vector2dDual<Internal>

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.