PedroPathing/com.pedropathing.pathgen/Path

Path

public class Path

This is the Path class. This class handles containing information on the actual path the Follower will follow, not just the shape of the path that the BezierCurve class handles. This contains information on the stop criteria for a Path, the heading interpolation, and deceleration.

Author

Anyi Lin - 10158 Scott's Bots

Aaron Yang - 10158 Scott's Bots

Harrison Womack - 10158 Scott's Bots

Constructors

Path

public void Path(BezierCurve curve)

Creates a new Path from a BezierCurve.

Properties

closestPointCurvature

public double closestPointCurvature

closestPointNormalVector

public Vector closestPointNormalVector

closestPointTangentVector

public Vector closestPointTangentVector

closestPointTValue

public double closestPointTValue

pathEndHeadingConstraint

public double pathEndHeadingConstraint

pathEndTimeoutConstraint

public double pathEndTimeoutConstraint

pathEndTranslationalConstraint

public double pathEndTranslationalConstraint

pathEndTValueConstraint

public double pathEndTValueConstraint

pathEndVelocityConstraint

public double pathEndVelocityConstraint

zeroPowerAccelerationMultiplier

public double zeroPowerAccelerationMultiplier

Functions

getClosestPoint

public Pose getClosestPoint(Pose pose, int searchLimit)

This gets the closest Point from a specified pose to the BezierCurve with a Newton search that is limited to some specified step limit.

getClosestPointCurvature

public double getClosestPointCurvature()

This returns the curvature of the BezierCurve at the closest Point.

getClosestPointHeadingGoal

public double getClosestPointHeadingGoal()

This returns the heading goal at the closest Point.

getClosestPointNormalVector

public Vector getClosestPointNormalVector()

This returns the normal Vector at the closest Point.

getClosestPointTangentVector

public Vector getClosestPointTangentVector()

This returns the tangent Vector at the closest Point.

getClosestPointTValue

public double getClosestPointTValue()

This returns the t-value of the closest Point on the BezierCurve.

getControlPoints

public ArrayList<Point> getControlPoints()

Returns the ArrayList of control points for this BezierCurve.

getCurvature

public double getCurvature(double t)

This returns the curvature of the BezierCurve at a specified t-value.

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.

getEndTangent

public Vector getEndTangent()

This returns the unit tangent Vector at the end of the BezierCurve.

getFirstControlPoint

public Point getFirstControlPoint()

Returns the first control point for this BezierCurve.

getHeadingGoal

public double getHeadingGoal(double t)

This gets the heading goal at a specified t-value.

getLastControlPoint

public Point getLastControlPoint()

Returns the last control point for this BezierCurve.

getPathEndHeadingConstraint

public double getPathEndHeadingConstraint()

This gets the heading stop criteria.

getPathEndTimeoutConstraint

public double getPathEndTimeoutConstraint()

This gets the Path end correction time.

getPathEndTranslationalConstraint

public double getPathEndTranslationalConstraint()

This gets the translational stop criteria.

getPathEndTValueConstraint

public double getPathEndTValueConstraint()

This gets the parametric end criteria.

getPathEndVelocityConstraint

public double getPathEndVelocityConstraint()

This gets the velocity stop criteria.

getPoint

public Point getPoint(double t)

This returns the point on the Bezier curve 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 BezierCurve.

getSecondToLastControlPoint

public Point getSecondToLastControlPoint()

Returns the second to last control point for this BezierCurve.

getZeroPowerAccelerationMultiplier

public double getZeroPowerAccelerationMultiplier()

This gets the deceleration multiplier.

isAtParametricEnd

public boolean isAtParametricEnd()

This returns if the robot is at the end of the Path, according to the parametric t-value.

isAtParametricStart

public boolean isAtParametricStart()

This returns if the robot is at the beginning of the Path, according to the parametric t-value.

isReversed

public boolean isReversed()

Returns if the path is being followed in reverse

length

public double length()

This returns the approximated length of the BezierCurve.

pathType

public String pathType()

Returns the type of path.

setConstantHeadingInterpolation

public void setConstantHeadingInterpolation(double setHeading)

This sets the heading interpolation to maintain a constant heading.

setLinearHeadingInterpolation

public void setLinearHeadingInterpolation(double startHeading, double endHeading)

public void setLinearHeadingInterpolation(double startHeading, double endHeading, double endTime)

This sets the heading interpolation to linear with a specified start heading and end heading for the Path.

setPathEndHeadingConstraint

public void setPathEndHeadingConstraint(double set)

This sets the heading stop criteria.

setPathEndTimeoutConstraint

public void setPathEndTimeoutConstraint(double set)

This sets the Path end timeout.

setPathEndTranslationalConstraint

public void setPathEndTranslationalConstraint(double set)

This sets the translational stop criteria.

setPathEndTValueConstraint

public void setPathEndTValueConstraint(double set)

This sets the parametric end criteria.

setPathEndVelocityConstraint

public void setPathEndVelocityConstraint(double set)

This sets the velocity stop criteria.

setReversed

public void setReversed(boolean set)

This sets whether to follow the tangent heading facing away from (reverse) or towards the tangent.

setTangentHeadingInterpolation

public void setTangentHeadingInterpolation()

This sets the heading interpolation to tangential.

setZeroPowerAccelerationMultiplier

public void setZeroPowerAccelerationMultiplier(double set)

This sets the path's deceleration factor in terms of the natural deceleration of the robot when power is cut from the drivetrain.