Pioneer Robotics Documentation/pioneer.pathing.paths/Path

Path

interface Path

Path interface representing a path in 2D space

Inheritors

CompoundPath

HermitePath

LinearPath

Types

HeadingInterpolationMode

enum HeadingInterpolationMode : Enum<Path.HeadingInterpolationMode>

Properties

endPose

abstract var endPose: Pose

The end pose of the path

headingInterpolationMode

abstract var headingInterpolationMode: Path.HeadingInterpolationMode

Interpolation mode between start and end heading

startPose

abstract var startPose: Pose

The start and end poses of the path

velocityConstraint

abstract 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

abstract fun getClosestPointT(position: Pose): Double

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

getCurvature

abstract 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

abstract fun getLength(): Double

Gets the arc length of the path

getLengthSoFar

abstract fun getLengthSoFar(t: Double): Double

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

getPoint

abstract fun getPoint(t: Double): Pose

Gets the point at the given parameter t

getPose

abstract fun getPose(t: Double): Pose

Gets the pose on the path at the given parameter t

getTFromLength

abstract fun getTFromLength(length: Double): Double

Gets the parameter t value from the given arc length