trajectory-kt/space.kscience.trajectory

Package-level declarations

Types

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@Serializable
@SerialName(value = "arc")
data class CircleTrajectory2D(val circle: Circle2D<Float64>, val arcStart: Angle, val arcAngle: Angle) : Trajectory2D

An arc segment

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@Serializable
@SerialName(value = "composite")
class CompositeTrajectory2D(val segments: List<Trajectory2D>) : Trajectory2D
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object DubinsPath
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fun interface MaxCurvature
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interface Obstacle
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class Obstacles(val obstacles: List<Obstacle>)
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@Serializable
class PhaseVector2D(val coordinates: Vector2D<Float64>, val velocity: Vector2D<Float64>) : Pose2D, Vector2D<Float64>
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@Serializable(with = Pose2DSerializer::class)
interface Pose2D : Vector2D<Float64>

Combination of Vector and its view angle (clockwise from positive y-axis direction)

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object Pose2DSerializer : KSerializer<Pose2D>
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@Serializable
@SerialName(value = "straight")
data class StraightTrajectory2D(val begin: Vector2D<Float64>, val end: Vector2D<Float64>) : Trajectory2D, LineSegment<Vector2D<Float64>>

Straight path segment. The order of start and end defines the direction

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@Serializable
sealed interface Trajectory2D

Properties

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val Vector2D<Float64>.bearing: Angle

Functions

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fun CircleTrajectory2D(circle: Circle2D<Float64>, beginPose: Pose2D, endPose: Pose2D): CircleTrajectory2D
fun CircleTrajectory2D(center: Vector2D<Float64>, start: Vector2D<Float64>, end: Vector2D<Float64>, direction: Trajectory2D.Direction): CircleTrajectory2D
fun CircleTrajectory2D(circle: Circle2D<Float64>, start: Vector2D<Float64>, end: Vector2D<Float64>, direction: Trajectory2D.Direction): CircleTrajectory2D
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fun Obstacle.circumvention(direction: Trajectory2D.Direction, fromIndex: Int): CompositeTrajectory2D

Create an obstacle circumvention in given direction starting (including) from obstacle node with given fromIndex

fun Obstacle.circumvention(direction: Trajectory2D.Direction, fromIndex: Int, toIndex: Int): CompositeTrajectory2D

Create an obstacle circumvention in given direction starting (including) from obstacle node with given fromIndex and ending (including) at obstacle node with given toIndex

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fun Obstacle(vararg circles: Circle2D<Float64>): Obstacle
fun Obstacle(circles: List<Circle2D<Float64>>): Obstacle
fun Obstacle(points: List<Vector2D<Double>>, radius: Double): Obstacle
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fun Pose2D(coordinate: Vector2D<Float64>, bearing: Angle): Pose2D
fun Pose2D(point: Vector2D<Float64>, direction: Vector2D<Float64>): Pose2D
fun Pose2D(x: Number, y: Number, bearing: Angle): Pose2D
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fun StraightTrajectory2D(segment: LineSegment2D): StraightTrajectory2D