core/gay.zharel.hermes.paths/PositionPath

PositionPath

interface PositionPath<Param : DualParameter>

Represents a parametric 2D position path \((x(t), y(t))\) with automatic differentiation support.

This interface defines a path in 2D space parameterized by a value of type Param. The path can be evaluated at any parameter value to obtain position and derivatives up to order n.

Parameters

Param

The parameter type \(t\) used to parameterize the path (e.g., arc length, time)

Inheritors

BezierCurve2dInternal

Line

ArclengthReparamCurve2d

CompositePositionPath

PositionPathView

QuinticSpline2dInternal

Functions

begin

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

Evaluates the path at the beginning (parameter = 0).

end

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

Evaluates the path at the end (parameter = length).

get

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

length

abstract fun length(): Double

Returns the total length of the path in the parameter space.

project

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

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

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.