Package me.wobblyyyy.pathfinder.trajectory

Class Arc

java.lang.Object
me.wobblyyyy.pathfinder.trajectory.Spline
me.wobblyyyy.pathfinder.trajectory.Arc
All Implemented Interfaces:
Segment
public class Arc
extends Spline
An Arc is an abstraction of the Spline class designed to simplify the process of creating arcs that behave in a reliable way. The Arc class allows you to create simple arcs with a single control point between the start and stop points.
Since:
0.3.0
Author:
Colin Robertson

  • Constructor Summary

    Constructors
    Modifier Constructor Description
    private Arc​(me.wobblyyyy.edt.Arrayable<HeadingPoint> points)
    Create a new Spline that will hit each of the required points.

  • Method Summary

    Modifier and Type Method Description
    static Arc bend​(HeadingPoint start, double bendDistance, HeadingPoint stop)
    Create an Arc instance by inserting a control point at the midpoint of the line between the start and stop points and applying a (X, Y) translational deviation to the newly-created point.

    Methods inherited from class me.wobblyyyy.pathfinder.trajectory.Spline

    angleAt, end, interpolateFromX, interpolateFromY, maximum, minimum, start, toString

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Constructor Details

    • Arc

      private Arc​(me.wobblyyyy.edt.Arrayable<HeadingPoint> points)
      Create a new Spline that will hit each of the required points. Splines are created so that they hit each and every one of the target points, meaning that if you tell the robot to pass through (10, 10), the robot will pass through (10, 10) no matter what.
      Parameters:
      points - a container that contains each of the required points. Each and every one of these points will be passed through directly by the spline computational system, meaning that the robot will go exactly where you tell it to go.

  • Method Details

    • bend

      public static Arc bend​(HeadingPoint start, double bendDistance, HeadingPoint stop)
      Create an Arc instance by inserting a control point at the midpoint of the line between the start and stop points and applying a (X, Y) translational deviation to the newly-created point.
      Parameters:
      start - the start point of the arc.
      bendDistance - how far from the center of the start and stop points the arc will bend in a given direction.
      stop - the stop point of the arc.
      Returns:
      an arc with the requested bend.