PathTrajectorySegment

class PathTrajectorySegment : TrajectorySegment

Trajectory segment backed by a list of Path objects.

paths - paths

trajectoryConstraintsList - motion constraints for each respective path

resolution - resolution used for the motion profile (see MotionProfileGenerator.generateMotionProfile)

PathTrajectorySegment(path: Path, trajectoryConstraints: TrajectoryConstraints, resolution: Int = 250)

PathTrajectorySegment(paths: List<Path> = emptyList(), trajectoryConstraintsList: List<TrajectoryConstraints> = emptyList(), resolution: Int = 250)

Trajectory segment backed by a list of Path objects.

paths	`val paths: List<Path>` paths
profile	`val profile: MotionProfile`
trajectoryConstraintsList	`val trajectoryConstraintsList: List<TrajectoryConstraints>` motion constraints for each respective path

acceleration	`fun acceleration(time: Double): Pose2d` Returns the pose acceleration at the given time.
duration	`fun duration(): Double` Returns the duration of the segment.
get	`operator fun get(time: Double): Pose2d` Returns the pose at the given time.
velocity	`fun velocity(time: Double): Pose2d` Returns the pose velocity at the given time.