PedroPathing/com.pedropathing.pathgen/BezierPoint

BezierPoint

public class BezierPoint extends BezierCurve

This is the BezierPoint class. This class handles the creation of BezierPoints, which is what I call Bezier curves with only one control point. The parent BezierCurve class cannot handle Bezier curves with less than three control points, so this class handles points. Additionally, it makes the calculations done on the fly a little less computationally expensive and more streamlined.

Author

Anyi Lin - 10158 Scott's Bots

Aaron Yang - 10158 Scott's Bots

Harrison Womack - 10158 Scott's Bots

Constructors

BezierPoint

public void BezierPoint(Point point)

This creates a new BezierPoint with a specified Point.

public void BezierPoint(Pose pose)

This creates a new BezierPoint with a specified Point.

Properties

dashboardDrawingPoints

public Array<Array<double>> dashboardDrawingPoints

endTangent

public Vector endTangent

Functions

approximateLength

public double approximateLength()

This gets the length of the BezierPoint.

generateBezierCurve

public void generateBezierCurve()

This generates the Bezier curve.

getApproxSecondDerivative

public Vector getApproxSecondDerivative(double t)

This returns the zero Vector, but it's here so I can override the method in the BezierCurve class.

getControlPoints

public ArrayList<Point> getControlPoints()

Returns the ArrayList of control points for this BezierPoint

getCurvature

public double getCurvature(double t)

This returns the curvature of the BezierPoint, which is zero since this is a Point.

getDashboardDrawingPoints

public Array<Array<double>> getDashboardDrawingPoints()

This returns a 2D Array of doubles containing the x and y positions of points to draw on FTC Dashboard.

getDerivative

public Vector getDerivative(double t)

This returns the derivative on the BezierPoint, which is the zero Vector since this is a Point.

getEndTangent

public Vector getEndTangent()

This supposedly returns the unit tangent Vector at the end of the path, but since there is no end tangent of a point, this returns a zero Vector instead.

getFirstControlPoint

public Point getFirstControlPoint()

Returns the first, and only, control point for this BezierPoint

getLastControlPoint

public Point getLastControlPoint()

Returns the last control point for this BezierPoint.

getPoint

public Point getPoint(double t)

This returns the point on the BezierPoint that is specified by the parametric t value.

getSecondControlPoint

public Point getSecondControlPoint()

Returns the second control point, or the one after the start, for this BezierPoint.