Geometry Util
pathplannerlib Index / Pathplannerlib / Geometry Util
Auto-generated documentation for pathplannerlib.geometry_util module.
calculateRadius
Show source in geometry_util.py:102
Calculate the curve radius given 3 points on the curve
Arguments
a
- Point Ab
- Point Bc
- Point C
Returns
Curve radius
Signature
cubicLerp
Show source in geometry_util.py:86
Cubic interpolation between Translation2ds
Arguments
a
- Position 1b
- Position 2c
- Position 3d
- Position 4t
- Interpolation factor (0.0-1.0)
Returns
Interpolated value
Signature
def cubicLerp(
a: Translation2d, b: Translation2d, c: Translation2d, d: Translation2d, t: float
) -> Translation2d: ...
decimal_range
Show source in geometry_util.py:127
Signature
flipFieldPos
Show source in geometry_util.py:7
Flip a field position to the other side of the field, maintaining a blue alliance origin
Arguments
pos
- The position to flip
Returns
The flipped position
Signature
flipFieldPose
Show source in geometry_util.py:26
Flip a field pose to the other side of the field, maintaining a blue alliance origin
Arguments
pose
- The pose to flip
Returns
The flipped pose
Signature
flipFieldRotation
Show source in geometry_util.py:17
Flip a field rotation to the other side of the field, maintaining a blue alliance origin
Arguments
rotation
- The rotation to flip
Returns
The flipped rotation
Signature
floatLerp
Show source in geometry_util.py:35
Interpolate between two floats
Arguments
start_val
- Start valueend_val
- End valuet
- Interpolation factor (0.0-1.0)
Returns
Interpolated value
Signature
quadraticLerp
Show source in geometry_util.py:71
Quadratic interpolation between Translation2ds
Arguments
a
- Position 1b
- Position 2c
- Position 3t
- Interpolation factor (0.0-1.0)
Returns
Interpolated value
Signature
def quadraticLerp(
a: Translation2d, b: Translation2d, c: Translation2d, t: float
) -> Translation2d: ...
rotationLerp
Show source in geometry_util.py:59
Interpolate between two Rotation2ds
Arguments
a
- Start valueb
- End valuet
- Interpolation factor (0.0-1.0)
Returns
Interpolated value
Signature
translationLerp
Show source in geometry_util.py:47
Linear interpolation between two Translation2ds
Arguments
a
- Start valueb
- End valuet
- Interpolation factor (0.0-1.0)
Returns
Interpolated value