:py:mod:`rktl_planner.bezier_path`
==================================

.. py:module:: rktl_planner.bezier_path

.. autoapi-nested-parse::

   A module for handling Bezier curves and paths.

   License:
     BSD 3-Clause License
     Copyright (c) 2023, Autonomous Robotics Club of Purdue (Purdue ARC)
     All rights reserved.



Module Contents
---------------

Classes
~~~~~~~

.. autoapisummary::

   rktl_planner.bezier_path.BezierPath




.. py:class:: BezierPath(*args, **kwargs)

   A class representing a Bezier curve path, which is a `BezierCurve` and a duration. If `msg`,
   `bezier_curve`, and/or `duration` is given as kwargs, they are used to convert from
   `rktl_msgs/BezierPathMsg`, used as the bezier curve for this path, and/or used for as the
   duration path; respectively. Otherwise, args is used to initalize this object. If one argument
   is given, it is expected to be of type `rktl_msgs.msgs.BezierPathMsg`. If two arguments are
   given, the first should be either a `BezierCurve` object or a list of control points to generate
   a `BezierCurve` object. The second argument should be a `std_msgs.msg.Duration` or a `float`
   dictating how long this segment should last.    

   .. py:method:: __repr__()

      Returns a string representation of the instance.


   .. py:method:: __str__()

      Returns a string representation of the instance.


   .. py:method:: to_param(secs)

      Returns the parameter value corresponding to a time in seconds.


   .. py:method:: from_param(vec)

      Returns a `Vector3` object corresponding to a parameter value.


   .. py:method:: at(secs)

      Returns a `Vector3` object representing the position on the path at a given time in seconds.


   .. py:method:: vel_at(secs)

      Returns a `Vector3` object representing the velocity on the path at a given time in seconds.


   .. py:method:: speed_at(secs)

      Returns the (tangential) speed on the path at a given time in seconds.


   .. py:method:: accel_at(secs)

      Returns a Vector3 object representing the acceleration on the path at a given time in seconds.


   .. py:method:: angle_at(secs)

      Returns the angle of the tangent vector of the curve at a given time in seconds.


   .. py:method:: angular_vel_at(secs)

      Returns the angular velocity of the curve at a given time in seconds.


   .. py:method:: to_msg()

      Returns a `rktl_msg/BezierPathMsg` object representing the `BezierPath` object.


   .. py:method:: split(secs)

      Splits this path into 2 paths at a given time in seconds. Returns the two new `BezierPath` objects.