Package io.github.frc5024.purepursuit.pathgen

Class SmoothPath

java.lang.Object

io.github.frc5024.purepursuit.pathgen.Path

io.github.frc5024.purepursuit.pathgen.SmoothPath

public class SmoothPath
extends Path

A smoothed path

Field Summary

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

name, pathGenStartTimeMs, pathGenTimeMs, points, waypoints

Constructor Summary

Constructors

Constructor	Description
SmoothPath(double spacing, double weight, double smoothing, double tolerance, Translation2d... waypoints)	Create a Smooth Path
SmoothPath(double weight, double smoothing, double tolerance, Translation2d... waypoints)	Create a Smooth Path

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

SmoothPath

public SmoothPath(double weight,
                  double smoothing,
                  double tolerance,
                  Translation2d... waypoints)

Create a Smooth Path

Parameters:

weight - Weight of smoothing

smoothing - How smooth the path is

tolerance - How much the path is allowed to change

waypoints - Path waypoints to follow

SmoothPath

public SmoothPath(double spacing,
                  double weight,
                  double smoothing,
                  double tolerance,
                  Translation2d... waypoints)

Create a Smooth Path

Parameters:

spacing - Amount of space between "inner" points in meters

weight - Weight of smoothing

smoothing - How smooth the path is

tolerance - How much the path is allowed to change

waypoints - Path waypoints to follow