Package com.pathplanner.lib.util

Class GeometryUtil

java.lang.Object

com.pathplanner.lib.util.GeometryUtil

public class GeometryUtil
extends Object

Utility class for various geometry functions used during generation

Constructor Summary

Constructors

Constructor	Description
GeometryUtil()

Method Summary

Modifier and Type	Method	Description
static double	calculateRadius(Translation2d a, Translation2d b, Translation2d c)	Calculate the curve radius given 3 points on the curve
static Translation2d	cubicLerp(Translation2d a, Translation2d b, Translation2d c, Translation2d d, double t)	Cubic interpolation between Translation2ds
static Translation2d	quadraticLerp(Translation2d a, Translation2d b, Translation2d c, double t)	Quadratic interpolation between Translation2ds

Methods inherited from class java.lang.Object

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

Constructor Details

GeometryUtil

public GeometryUtil()

Method Details

quadraticLerp

public static Translation2d quadraticLerp(Translation2d a,
 Translation2d b,
 Translation2d c,
 double t)

Quadratic interpolation between Translation2ds

Parameters:

a - Position 1

b - Position 2

c - Position 3

t - Interpolation factor (0.0-1.0)

Returns:

Interpolated value

cubicLerp

public static Translation2d cubicLerp(Translation2d a,
 Translation2d b,
 Translation2d c,
 Translation2d d,
 double t)

Cubic interpolation between Translation2ds

Parameters:

a - Position 1

b - Position 2

c - Position 3

d - Position 4

t - Interpolation factor (0.0-1.0)

Returns:

Interpolated value

calculateRadius

public static double calculateRadius(Translation2d a,
 Translation2d b,
 Translation2d c)

Calculate the curve radius given 3 points on the curve

Parameters:

a - Point A

b - Point B

c - Point C

Returns:

Curve radius