core/com.asiankoala.koawalib.path

Package com.asiankoala.koawalib.path

Types

class Arc( start: Vector, mid: Vector, end: Vector)

HeadingController

fun interface HeadingController

HermiteControlVector1d

data class HermiteControlVector1d(val zero: Double = 0.0, val first: Double = 0.0)

HermiteControlVector2d

class HermiteControlVector2d(zero: Vector, first: Vector)

class HermitePath(headingController: HeadingController, controlPoses: Pose) : Path

HermiteSplineInterpolator

class HermiteSplineInterpolator(headingController: HeadingController, controlPoses: Pose) : PiecewiseSplineInterpolator

open class Path(interpolator: PiecewiseSplineInterpolator)

PiecewiseSplineInterpolator

interface PiecewiseSplineInterpolator

class Polynomial(coeffVec: SimpleMatrix)

data class ProjQuery(val cmd: Cmd, val t: Double)

interface SmoothCurve

class Spline(val x: Polynomial, val y: Polynomial) : SmoothCurve

class System

object Testing

Properties

CUBIC_HERMITE_MATRIX

val CUBIC_HERMITE_MATRIX: SimpleMatrix

DEFAULT_HEADING_CONTROLLER

val DEFAULT_HEADING_CONTROLLER: HeadingController

const val dt: Double = 0.007

FLIPPED_HEADING_CONTROLLER

val FLIPPED_HEADING_CONTROLLER: HeadingController