orx-shapes/org.openrndr.extra.shapes.reedsshepp/ReedsSheppPath

ReedsSheppPath

class ReedsSheppPath(val start: Vector2, val startDirection: Vector2, val radius: Double, val segments: List<ReedsSheppSegment>)(source)

A Reeds-Shepp path: a path from start with the car heading in startDirection, for a car that drives forwards and in reverse and turns at most as sharply as a circle of radius. It consists of up to five segments; where the sign of their lengths changes, the car changes gear and the path has a cusp.

Constructors

ReedsSheppPath

constructor(start: Vector2, startDirection: Vector2, radius: Double, segments: List<ReedsSheppSegment>)

Properties

cusps

val cusps: Int

The number of gear changes.

end

val end: Vector2

The end point.

endDirection

val endDirection: Vector2

The heading of the car at the end.

length

val length: Double

The total length driven, forwards and in reverse.

radius

val radius: Double

segments

val segments: List<ReedsSheppSegment>

start

val start: Vector2

startDirection

val startDirection: Vector2

Functions

contour

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

The path as a single contour of lines and cubic Béziers, one per at most 90 degrees of arc. It is continuous, but reverses direction at every cusps gear change.

direction

fun direction(s: Double): Vector2

The heading of the car after driving a distance s along the path; in reverse it points against the motion.

gearContours

fun gearContours(polarity: YPolarity = YPolarity.CW_NEGATIVE_Y): List<Pair<ShapeContour, Boolean>>

The path split at its gear changes, with for every part whether it is driven forwards. Every part is tangent-continuous.

isForward

fun isForward(s: Double): Boolean

Whether the car drives forwards at distance s along the path.

position

fun position(s: Double): Vector2

The position after driving a distance s along the path, forwards or in reverse.