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Index ¶
Constants ¶
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const ( CubicA_Pos1 = -2.0 CubicA_Pos0 = 2.0 CubicB_Pos1 = 3.0 CubicB_Pos0 = -3.0 CubicB_Vel0 = -2.0 QuinticA_Pos0 = -6.0 QuinticA_Vel0 = -3.0 QuinticA_Acc0 = -0.5 QuinticA_Pos1 = 6.0 QuinticA_Vel1 = -3.0 QuinticA_Acc1 = 0.5 QuinticB_Pos0 = 15.0 QuinticB_Vel0 = 8.0 QuinticB_Acc0 = 1.5 QuinticB_Pos1 = -15.0 QuinticB_Vel1 = 7.0 QuinticB_Acc1 = -1.0 QuinticC_Pos0 = -10.0 QuinticC_Vel0 = -6.0 QuinticC_Acc0 = -1.5 QuinticC_Pos1 = 10.0 QuinticC_Vel1 = -4.0 QuinticC_Acc1 = 0.5 QuinticD_Acc0 = 0.5 )
Variables ¶
This section is empty.
Functions ¶
func PlotSpline ¶
func PlotSplines ¶
Types ¶
type CubicSpline ¶
type CubicSpline struct {
//Spline coefficients
//x(t) = Ax*t^3 + Bx*t^2 + Cx*t + Dx
//y(t) = Ay*t^3 + By*t^2 + Cy*t + Dy
Ax, Bx, Cx, Dx float64
Ay, By, Cy, Dy float64
}
func GenerateCubicSpline ¶
func GenerateCubicSpline(start Pose, end Pose) *CubicSpline
func (*CubicSpline) GetCurvature ¶
func (this *CubicSpline) GetCurvature(t float64) float64
func (*CubicSpline) String ¶
func (this *CubicSpline) String() string
type Pose ¶
type Pose struct {
X, Y, Theta float64
}
struct representing a Pose (position + heading in a 2D plane). X and Y are unitless, but Theta has to be in radians.
type QuinticSpline ¶
type QuinticSpline struct {
//x(t) = Ax*t^5 + Bx*t^4 + Cx*t^3 + Dx*t^2 + Ex*t + F
//y(t) = Ay*t^5 + By*t^4 + Cy*t^3 + Dy*t^2 + Ey*t + F
Ax, Bx, Cx, Dx, Ex, Fx float64
Ay, By, Cy, Dy, Ey, Fy float64
}
func GenerateQuinticSpline ¶
func GenerateQuinticSpline(start Pose, end Pose) *QuinticSpline
func (*QuinticSpline) GetCurvature ¶
func (this *QuinticSpline) GetCurvature(t float64) float64
func (*QuinticSpline) GetPose ¶
func (this *QuinticSpline) GetPose(t float64) Pose
func (*QuinticSpline) String ¶
func (this *QuinticSpline) String() string
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