Pioneer Robotics Documentation/pioneer.pathing.paths/HermitePath

HermitePath

class HermitePath(var startPose: Pose, var endPose: Pose, startVelocity: Pose = Pose(), endVelocity: Pose = Pose()) : Path

HermitePath class representing a Hermite curve

Parameters

startPose

The starting pose of the path

endPose

The ending pose of the path

startVelocity

The starting velocity vector x,y

endVelocity

The ending velocity vector x,y

Constructors

HermitePath

constructor(startPose: Pose, endPose: Pose, startVelocity: Pose = Pose(), endVelocity: Pose = Pose())

Types

Builder

class Builder

Properties

compoundPath

val compoundPath: Path

endPose

open override var endPose: Pose

startPose

open override var startPose: Pose

Functions

createCompoundPath

fun createCompoundPath(resolution: Int): Path

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

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