Path Creation

Creating Paths

Paths can be created by using the static methods in the Paths class. The following methods are available:

• Paths.line(Pose start, Pose end): Creates a straight line path from the start pose to the end pose.
• Paths.curve(Pose... poses): Creates a Bézier curve path from the start pose (first pose) to the end pose (last pose), using the other provided poses as control points.
• Paths.path(Path... paths): Creates a path that is a concatenation of the provided paths.

Examples of creating paths

Let's use these poses to demonstrate each of the path creation methods:

PoseFactory poseFactory = PoseFactory.degrees();

Pose start = poseFactory.of(0, 0, 180); // 180 degrees 
Pose end = poseFactory.of(10, 10, 90); // 90 degrees 
Pose control = poseFactory.of(10, 20, 45); // 45 degrees 

Path line = Paths.line(start, end);

Path curve = Paths.curve(start, control, end);

Path path = Paths.path(line, curve);

Recommended path usage

We recommend using methods to return paths rather than storing them as fields. For example:

public Path linePath() {
    return Paths.line(start, end);
}

public Path curvePath() {
    return Paths.curve(start, control, end);
}

public Path compoundPath() {
    return Paths.path(linePath(), curvePath());
}

This is the same format that the visualiser returns code.

Interpolation

Reference the Interpolation page for information on the usage and types of available interpolations.