0.3.4

core/gay.zharel.hermes.paths/QuinticSpline2dInternal

QuinticSpline2dInternal

@Serializable

@SerialName(value = "QuinticSpline2d")

data class QuinticSpline2dInternal(val x: QuinticSpline1d, val y: QuinticSpline1d) : PositionPath<Internal>

Path comprised of two QuinticSpline1ds.

Constructors

QuinticSpline2dInternal

constructor(begin: Vector2dDual<Internal>, end: Vector2dDual<Internal>)

constructor(x: QuinticSpline1d, y: QuinticSpline1d)

Properties

val x: QuinticSpline1d

val y: QuinticSpline1d

Functions

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

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

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

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

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

open override fun length(): Double

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

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.