com.first.team2052.lib.path

Class PathSegment

java.lang.Object

com.first.team2052.lib.path.PathSegment

public class PathSegment
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PathSegment.ClosestPointReport
static class	PathSegment.Sample

Field Summary

Fields

Modifier and Type	Field and Description
protected static double	kEpsilon
protected Translation2d	mEnd
protected double	mLength
protected double	mSpeed
protected Translation2d	mStart
protected Translation2d	mStartToEnd

Constructor Summary

Constructors

Constructor and Description
PathSegment(Translation2d start, Translation2d end, double speed)

Method Summary

Modifier and Type	Method and Description
double	dotProduct(Translation2d other)
PathSegment.ClosestPointReport	getClosestPoint(Translation2d query_point)
Translation2d	getEnd()
double	getLength()
double	getSpeed()
Translation2d	getStart()
Translation2d	interpolate(double index)
void	updateStart(Translation2d new_start)

Methods inherited from class java.lang.Object

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

Field Detail

kEpsilon

protected static final double kEpsilon

See Also:

Constant Field Values

mSpeed

protected double mSpeed

mStart

protected Translation2d mStart

mEnd

protected Translation2d mEnd

mStartToEnd

protected Translation2d mStartToEnd

mLength

protected double mLength

Constructor Detail

PathSegment

public PathSegment(Translation2d start,
                   Translation2d end,
                   double speed)

Method Detail

updateStart

public void updateStart(Translation2d new_start)

getSpeed

public double getSpeed()

getStart

public Translation2d getStart()

getEnd

public Translation2d getEnd()

getLength

public double getLength()

interpolate

public Translation2d interpolate(double index)

dotProduct

public double dotProduct(Translation2d other)

getClosestPoint

public PathSegment.ClosestPointReport getClosestPoint(Translation2d query_point)