core/gay.zharel.hermes.paths/PosePath

PosePath

Represents a parametric 2D pose path \((x(s), y(s), \theta(s))\) with automatic differentiation support.

A pose path extends a position path by including heading/orientation information. The path is parameterized by arc length Arclength and can be evaluated to obtain pose (position + heading) and derivatives at any point along the path.

Pose paths are fundamental building blocks for robot trajectory planning, as they define the spatial configuration the robot should follow.

Inheritors

Functions

begin

open fun begin(n: Int): Pose2dDual<Arclength>

Evaluates the pose path at the beginning (arc length = 0).

end

open fun end(n: Int): Pose2dDual<Arclength>

Evaluates the pose path at the end (arc length = length).

get

abstract operator fun get(s: Double, n: Int): Pose2dDual<Arclength>

length

abstract fun length(): Double

Returns the total arc length of the path.

map

open fun map(map: PoseMap): MappedPosePath

Applies a pose transformation map to this path.

plus

open operator fun plus(other: PosePath): CompositePosePath

Combines this path with another path to create a composite path.

project

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

Projects a query position onto the path using Newton's method.