Package io.github.frc5024.purepursuit.pathgen

Class BezierPath

java.lang.Object

io.github.frc5024.purepursuit.pathgen.Path

io.github.frc5024.purepursuit.pathgen.BezierPath

public class BezierPath
extends Path

This class is used to generate points along a bezier curves

Field Summary

Fields inherited from class io.github.frc5024.purepursuit.pathgen.Path

name, pathGenStartTimeMs, pathGenTimeMs, points, waypoints

Constructor Summary

Constructors

Constructor	Description
BezierPath(Translation2d[] wayPoints)
BezierPath(Translation2d[] wayPoints, double[] weights)
BezierPath(Translation2d[] wayPoints, double[] weights, double spacing)

Method Summary

Methods inherited from class io.github.frc5024.purepursuit.pathgen.Path

beginTimingGeneration, getPathVisualization, getPoses, saveAndLogGenerationTime, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

BezierPath

public BezierPath(Translation2d[] wayPoints)

Parameters:

wayPoints - The waypoints of the bezier curve

BezierPath

public BezierPath(Translation2d[] wayPoints,
                  double[] weights)

Parameters:

wayPoints - The waypoints of the bezier curve

weights - The weights for each point point 0 and 2 should stay as close to 1 as possible

BezierPath

public BezierPath(Translation2d[] wayPoints,
                  double[] weights,
                  double spacing)

Parameters:

wayPoints - The waypoints of the bezier curve

weights - The weights for each point point 0 and 2 should stay as close to 1 as possible

spacing - the maximum amount of spacing allowed