core/com.acmerobotics.roadrunner.paths/Line

Line

@Serializable

@SerialName(value = "Line")

data class Line(val begin: Vector2d, val dir: Vector2d, val length: Double) : PositionPath<Arclength>

Line beginning at position begin, pointed in direction dir, and having length length.

Parameters

dir

unit vector

Constructors

Line

constructor(begin: Vector2d, end: Vector2d)

Makes line connecting begin to end.

constructor(begin: Vector2d, dir: Vector2d, length: Double)

Properties

val begin: Vector2d

val dir: Vector2d

val length: Double

Functions

begin

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

end

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

get

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

length

open override fun length(): Double

project

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.