core/com.acmerobotics.roadrunner.paths/PositionPath

PositionPath

interface PositionPath<Param : DualParameter>

Path \((x(t), y(t))\)

Parameters

Param

\(t\)

Inheritors

Functions

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open fun begin(n: Int): Vector2dDual<Param>
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open fun end(n: Int): Vector2dDual<Param>
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abstract operator fun get(param: Double, n: Int): Vector2dDual<Param>
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abstract 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.