Custom Curve

The Pedro Pathing follower is capable of following custom curves external to the library-provided ones. You can create your own curve by extending the abstract class CustomCurve. Custom Curves must be twice differentiable, parameterized on the interval [0,1], and non-degenerate (meaning the curve must never satisfy $x'(t) = y'(t) = 0$ for $t \in \[0,1\]$ ). There is an optional initialization() method that can be overridden to do something on the creation of the curve. For example, the BezierCurve class stores the end tangent at this time.

Here is a simple example of a LinearSpline:

import com.pedropathing.geometry.CustomCurve;
import com.pedropathing.geometry.Pose;
import com.pedropathing.math.Vector;
import com.pedropathing.paths.PathConstraints;
import java.util.Arrays;

public class LinearSpline extends CustomCurve {
    private Pose startPose;
    private Pose endPose;
    private Pose diffPose;

    public LinearSpline(Pose startPoint, Pose endPoint) {
        super(startPoint, endPoint);
    }

    public LinearSpline(FuturePose startPoint, FuturePose endPoint) {
        super(startPoint, endPoint);
    }

    public LinearSpline(Pose startPoint, Pose endPoint, PathConstraints constraints) {
        super(Arrays.asList(startPoint, endPoint), constraints);
    }

    @Override
    public String pathType() {
        return "Linear Spline";
    }

    @Override
    public LinearSpline getReversed() {
        LinearSpline curve = new LinearSpline(getControlPoints().get(1), getControlPoints().get(0), this.getPathConstraints());
        curve.initialize();
        return curve;
    }

    @Override
    public Vector getDerivative(double t) {
        return diffPose.getAsVector();
    }

    @Override
    public Pose getPose(double t) {
        if (startPose == null) init();

        double x = t * diffPose.getX() + startPose.getX();
        double y = t * diffPose.getY() + startPose.getY();

        return new Pose(x, y);
    }

    public void init() {
        startPose = getControlPoints().get(0);
        endPose = getControlPoints().get(1);
        diffPose = endPose.minus(startPose);
    }

    @Override
    public Vector getSecondDerivative(double t) {
        return new Vector();
    }
}