core/com.acmerobotics.roadrunner/PosePathBuilder

PosePathBuilder

class PosePathBuilder

Persistent builder for a CompositePosePath that guarantees \(C^1\) heading continuity given an Arclength-parameterized PositionPath with \(C^2\) continuity.

Throws a RotationContinuityException exception when a rotation segment is added that doesn't maintain \(C^1\) heading continuity. To avoid this, keep one or more splineUntil calls between every call to tangentUntil, constantUntil, or linearUntil. This discipline is enforced by the interface of SafePosePathBuilder, and that builder is recommended over this one.

Constructors

PosePathBuilder

fun PosePathBuilder(path: PositionPath<Arclength>, beginHeading: Rotation2d)

PosePathBuilder

fun PosePathBuilder(path: PositionPath<Arclength>, beginHeading: Double)

Types

RotationContinuityException

class RotationContinuityException : RuntimeException

Functions

fun constantUntil(disp: Double): PosePathBuilder

Fills in constant headings until displacement disp.

constantUntilEnd

fun constantUntilEnd(): CompositePosePath

fun linearUntil(disp: Double, heading: Rotation2d): PosePathBuilder

fun linearUntil(disp: Double, heading: Double): PosePathBuilder

Fills in headings interpolated linearly to heading heading at displacement disp.

fun linearUntilEnd(heading: Rotation2d): CompositePosePath

fun linearUntilEnd(heading: Double): CompositePosePath

fun splineUntil(disp: Double, heading: Rotation2d): PosePathBuilder

fun splineUntil(disp: Double, heading: Double): PosePathBuilder

fun splineUntilEnd(heading: Rotation2d): CompositePosePath

fun splineUntilEnd(heading: Double): CompositePosePath

fun tangentUntil(disp: Double): PosePathBuilder

Fills in tangent headings until displacement disp.

tangentUntilEnd

fun tangentUntilEnd(): CompositePosePath