orx-shapes/org.openrndr.extra.shapes.dubins/DubinsPath

DubinsPath

class DubinsPath(val start: Vector2, val startDirection: Vector2, val radius: Double, val word: DubinsWord, val lengths: List<Double>)(source)

A Dubins path: the shortest path from start, leaving in startDirection, to an end pose, for a vehicle that only moves forwards and turns at most as sharply as a circle of radius. It consists of three pieces after its word, of lengths lengths; an arc of length l turns by l / radius.

Constructors

constructor(start: Vector2, startDirection: Vector2, radius: Double, word: DubinsWord, lengths: List<Double>)

Properties

val end: Vector2

The end point.

val endDirection: Vector2

The unit direction at the end.

val length: Double

The total length.

val lengths: List<Double>

val radius: Double

val start: Vector2

val startDirection: Vector2

val word: DubinsWord

Functions

fun contour(polarity: YPolarity = YPolarity.CW_NEGATIVE_Y): ShapeContour

The path as a contour, see segments.

fun direction(s: Double): Vector2

The unit direction at arc length s from the start.

fun position(s: Double): Vector2

The position at arc length s from the start.

fun segments(): List<Segment2D>

Cubic Bézier segments of the path, a line per straight piece and one Bézier per at most 90 degrees of arc.