core/gay.zharel.hermes.geometry

Package-level declarations

Types

Acceleration2d

@Serializable

data class Acceleration2d(val linearAcc: Vector2d, val angAcc: 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.

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

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>

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>

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>>