core/gay.zharel.hermes.trajectories/PositionPathSeqBuilder

PositionPathSeqBuilder

Builds a sequence of \(C^2\) CompositePositionPaths with gay.zharel.hermes.math.Arclength parameters.

A new path is started whenever extending the current path would violate the continuity requirement. To manually insert further path breaks, invoke this builder multiple times.

Constructors

PositionPathSeqBuilder

constructor(beginPos: Vector2d, beginTangent: Rotation2d, eps: Double)

constructor(beginPos: Vector2d, beginTangent: Double, eps: Double)

Functions

bezierTo

fun bezierTo(controlPoints: List<Vector2d>): PositionPathSeqBuilder

Adds a Bézier curve using this position as the first control point, and controlPoints as the remaining points.

build

fun build(): List<CompositePositionPath<Arclength>>

endPath

fun endPath(): PositionPathSeqBuilder

forward

fun forward(ds: Double): PositionPathSeqBuilder

Adds a line segment that goes forward ds.

lineToX

fun lineToX(posX: Double): PositionPathSeqBuilder

lineToY

fun lineToY(posY: Double): PositionPathSeqBuilder

setTangent

fun setTangent(newTangent: Rotation2d): PositionPathSeqBuilder

fun setTangent(newTangent: Double): PositionPathSeqBuilder

splineTo

fun splineTo(pos: Vector2d, tangent: Rotation2d): PositionPathSeqBuilder

fun splineTo(pos: Vector2d, tangent: Double): PositionPathSeqBuilder

Adds a spline segment to position pos with tangent tangent.

strafeTo

fun strafeTo(pos: Vector2d): PositionPathSeqBuilder

Sets the tangent to point toward pos, and adds a line segment in that direction.