core/com.acmerobotics.roadrunner/PositionPathBuilder

PositionPathBuilder

class PositionPathBuilder

Persistent builder for a CompositePositionPath with an Arclength parameter that guarantees \(C^2\) continuity.

Constructors

PositionPathBuilder

fun PositionPathBuilder( beginPos: Vector2d, beginTangent: Rotation2d, eps: Double)

PositionPathBuilder

fun PositionPathBuilder( beginPos: Vector2d, beginTangent: Double, eps: Double)

Types

PathContinuityException

class PathContinuityException : RuntimeException

Functions

fun build(): CompositePositionPath<Arclength>

fun forward(dist: Double): PositionPathBuilder

Adds a line segment that goes forward distance dist.

fun lineToX(posX: Double): PositionPathBuilder

fun lineToY(posY: Double): PositionPathBuilder

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

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

Adds a spline segment to position pos with tangent tangent.