Pioneer Robotics Documentation/pioneer.pathing.paths/CompoundPath

CompoundPath

class CompoundPath(paths: List<Path>, var headingInterpolationMode: Path.HeadingInterpolationMode = Path.HeadingInterpolationMode.LINEAR) : Path

Represents a compound path made up of multiple paths. The paths are assumed to be connected end-to-end, meaning the end pose of one path should match the start pose of the next path in the list.

Parameters

paths

A list of paths that make up the compound path.

Constructors

CompoundPath

constructor(paths: List<Path>, headingInterpolationMode: Path.HeadingInterpolationMode = Path.HeadingInterpolationMode.LINEAR)

Types

Builder

class Builder

Properties

endPose

open override var endPose: Pose

The end pose of the path

headingInterpolationMode

open override var headingInterpolationMode: Path.HeadingInterpolationMode

Interpolation mode between start and end heading

startPose

open override var startPose: Pose

The start and end poses of the path

velocityConstraint

open override var velocityConstraint: VelocityConstraint

The velocity constraint for the path, which can be used to limit the maximum velocity at different points along the path

Functions

getClosestPoint

open fun getClosestPoint(position: Pose): Pose

Gets the closest point on the path to the given position

getClosestPointT

open override fun getClosestPointT(position: Pose): Double

Gets the closest point t value to the given position on the path

getCurvature

open override fun getCurvature(t: Double): Double

Gets the curvature at the given parameter t

getHeadingTarget

open fun getHeadingTarget(t: Double): Double

Get interpolated heading target at a given parameter t

getLength

open override fun getLength(): Double

Gets the arc length of the path

getLengthSoFar

open override fun getLengthSoFar(t: Double): Double

Gets the arc length from the start of the path to the given parameter t

getPoint

open override fun getPoint(t: Double): Pose

Gets the point at the given parameter t

getPose

open override fun getPose(t: Double): Pose

Gets the pose on the path at the given parameter t

getTFromLength

open override fun getTFromLength(length: Double): Double

Gets the parameter t value from the given arc length