0.3.4

core/gay.zharel.hermes.paths/TurnPath

TurnPath

class TurnPath(val position: Vector2d, val headingPath: HeadingPath) : PosePath

Constructors

constructor(start: Pose2d, endAngle: Rotation2d)

constructor(position: Vector2d, headingPath: HeadingPath)

Properties

val headingPath: HeadingPath

val position: Vector2d

Functions

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

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

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

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

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

open override fun length(): Double

Returns the total arc length of the path.

open fun map(map: PoseMap): MappedPosePath

Applies a pose transformation map to this path.

open operator fun plus(other: PosePath): CompositePosePath

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

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

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