BunyipsLib/org.murraybridgebunyips.bunyipslib.roadrunner.trajectorysequence/TrajectorySequenceBuilder/splineToConstantHeading

splineToConstantHeading

open fun splineToConstantHeading(endPositionInches: Vector2d, endHeadingRad: Double): T

Spline to a given position with a constant heading.

Return

The builder

Parameters

endPositionInches

The end position (inches)

endHeadingRad

The end heading (radians)

open fun splineToConstantHeading(endPosition: Vector2d, inUnit: Distance, endHeading: Double, angleUnit: Angle): T

Spline to a given position with a constant heading.

Return

The builder

Parameters

endPosition

The end position

inUnit

The unit of the end position vector (will be converted to inches)

endHeading

The end heading

angleUnit

The unit of the end heading (will be converted to radians)

open fun splineToConstantHeading(endPositionInches: Vector2d, endHeadingRad: Double, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): T

Spline to a given position with a constant heading and custom velocity and acceleration constraints.

Return

The builder

Parameters

endPositionInches

The end position (inches)

endHeadingRad

The end heading (radians)

velConstraint

The velocity constraint (inches/sec)

accelConstraint

The acceleration constraint (inches/sec^2)

open fun splineToConstantHeading(endPosition: Vector2d, inUnit: Distance, endHeading: Double, angleUnit: Angle, velConstraint: TrajectoryVelocityConstraint, accelConstraint: TrajectoryAccelerationConstraint): T

Spline to a given position with a constant heading and custom velocity and acceleration constraints.

Return

The builder

Parameters

endPosition

The end position

inUnit

The unit of the end position vector (will be converted to inches)

endHeading

The end heading

angleUnit

The unit of the end heading (will be converted to radians)

velConstraint

The velocity constraint (inches/sec)

accelConstraint

The acceleration constraint (inches/sec^2)