PedroPathing/com.pedropathing.pathgen/BezierCurve

BezierCurve

This is the BezierCurve class. This class handles the creation of Bezier curves, which are used as the basis of the path for the Path class. Bezier curves are parametric curves defined by a set of control points. So, they take in one input, t, that ranges from [0, 1] and that returns a point on the curve. Essentially, Bezier curves are a way of defining a parametric line easily. You can read more on Bezier curves here: https://en.wikipedia.org/wiki/Bézier_curve

Author

Anyi Lin - 10158 Scott's Bots

Aaron Yang - 10158 Scott's Bots

Harrison Womack - 10158 Scott's Bots

Inheritors

BezierLine

BezierPoint

Constructors

BezierCurve

public void BezierCurve()

This creates an empty BezierCurve.

public void BezierCurve(ArrayList<Point> controlPoints)

This creates a new BezierCurve with an ArrayList of control points and generates the curve.

public void BezierCurve(Array<Point> controlPoints)

This creates a new Bezier curve with some specified control points and generates the curve.

public void BezierCurve(Array<Pose> controlPoses)

This creates a new Bezier curve with some specified control points and generates the curve.

Properties

controlPoints

public ArrayList<Point> controlPoints

dashboardDrawingPoints

public Array<Array<double>> dashboardDrawingPoints

endTangent

public Vector endTangent

Functions

approximateLength

public double approximateLength()

This approximates the length of the BezierCurve in APPROXIMATION_STEPS number of steps.

generateBezierCurve

public void generateBezierCurve()

This generates the Bezier curve.

getApproxSecondDerivative

public Vector getApproxSecondDerivative(double t)

Because, for whatever reason, the second derivative returned by the getSecondDerivative(double t) method doesn't return the correct heading of the second derivative, this gets an approximate second derivative essentially using the limit method.

getControlPoints