RobotCore
Robot Core Documentation

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.  
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