TimeTurn

class TimeTurn(val beginPose: Pose2d, val angle: Double, val constraints: TurnConstraints)

A time-indexed turn beginning at beginPose and rotating CCW angle radians subject to constraints.

Note: Regardless of whether the turn is to the left or to the right, the max accel limit is applied when speeding up and the min accel limit is applied when speeding down.

Constructors

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constructor(beginPose: Pose2d, angle: Double, constraints: TurnConstraints)

Properties

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val beginPose: Pose2d
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val profile: TimeProfile
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Functions

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operator fun get(t: Double): Pose2dDual<Time>