Package io.github.frc5024.purepursuit.util

Class Smoothing

  • public class Smoothing
extends java.lang.Object

    • Method Summary

      All Methods Static Methods Concrete Methods 
      Modifier and Type Method Description
      static java.util.ArrayList<Translation2d> smooth​(java.util.ArrayList<Translation2d> positions, double weight_data, double weight_smooth, double tolerance)
      This is an algorithm taken from team 2168 to smooth paths

      • Methods inherited from class java.lang.Object

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

    • Method Detail

      • smooth

        public static java.util.ArrayList<Translation2d> smooth​(java.util.ArrayList<Translation2d> positions,
                                                        double weight_data,
                                                        double weight_smooth,
                                                        double tolerance)
        This is an algorithm taken from team 2168 to smooth paths
        Parameters:
        positions - an array list of positions to smooth
        weight_data - changes the amount of smoothing
        weight_smooth - the larger this is the smoother the path is
        tolerance - amount the path will change
        Returns:
        a smoothed path