RobotCore Robot Core Documentation
pathfinder.Pathfinder.Waypoint Class Reference

## Public Member Functions

Waypoint (double x_in, double y_in, double angle_in, double maxVelocity_in)

Waypoint (double x_in, double y_in, double angle_in)

Waypoint (double x_in, double y_in, double angle_in, double l1_in, double l2_in)

Waypoint (double x_in, double y_in, double angle_in, double l1_in, double l2_in, double maxVelocity_in)

Waypoint (double x_in, double y_in, double angle_in, double l1_in, double l2_in, double l3_in, double l4_in, double maxVelocity_in)

## Public Attributes

double x
Specifies the x coordinate of the starting point of the curve.

double y
Specifies the y coordinate of the starting point of the curve.

double angle
Specifies the angle (in radians) from the starting point.

double maxVelocity
Specifies the maximum velocity allowed for this portion of the path. If this value is zero, then the global max velocity for the path is used.

double l1 = 0
Specifies the distance to the first control point P1 using the starting angle.

double l2 = 0
Specifies the distance to the second control point P2 using the starting angle.

double l3 = 0
Specifies the distance to the third control point P3 measured from the next Waypoint's start position and using the next Waypoint's angle.

double l4 = 0
Specifies the distance to the fourth control point P4 measured from the next Waypoint's start position and using the next Waypoint's angle.

## Detailed Description

The Waypoint class defines one Bezier curve. The curves in question are Quintic bezier curves and as such require six control points (each of which has an x and y component). However because we require the first and second derivatives of joined curves to match, the degrees of freedom are greatly reduced and the curve can be defined by the end points, the starting and ending angles, and the lengths of the lines from the end points and the control points. Note that only the starting point and starting angles are specified in this class. The ending point and angle are defined by the next Waypoint in the list. All distances are in feet

The documentation for this class was generated from the following file:
• D:/SDASVN/RaspberryPi/workspacePi2021/NewSource/pathfinder/Pathfinder.java