class TrajectoryBuilder
Easy-to-use builder for creating Trajectory instances.
globalConstraints - global drive constraints (overridable for specific segments)
resolution - resolution used for path-based segments (see PathTrajectorySegment)
TrajectoryBuilder(startPose: Pose2d, globalConstraints: DriveConstraints, resolution: Int = 250)
Easy-to-use builder for creating Trajectory instances. |
fun back(distance: Double): TrajectoryBuilder
Adds a line straight backward. |
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fun beginComposite(): TrajectoryBuilder
Begins a composite path trajectory segment backed by a single continuous profile. |
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fun build(): Trajectory
Constructs the Trajectory instance. |
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fun closeComposite(): TrajectoryBuilder
Closes a composite path trajectory segment (see beginComposite). |
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fun forward(distance: Double): TrajectoryBuilder
Adds a line straight forward. |
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fun lineTo(pos: Vector2d, interpolator: HeadingInterpolator = TangentInterpolator(), constraintsOverride: TrajectoryConstraints? = null): TrajectoryBuilder
Adds a line path segment. |
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fun reverse(): TrajectoryBuilder
Reverse the direction of robot travel. |
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fun setReversed(reversed: Boolean): TrajectoryBuilder
Sets the robot travel direction. |
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fun splineTo(pose: Pose2d, interpolator: HeadingInterpolator = TangentInterpolator(), constraintsOverride: TrajectoryConstraints? = null): TrajectoryBuilder
Adds a spline segment. |
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fun strafeLeft(distance: Double): TrajectoryBuilder
Adds a segment that strafes left in the robot reference frame. |
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fun strafeRight(distance: Double): TrajectoryBuilder
Adds a segment that strafes right in the robot reference frame. |
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fun turn(angle: Double, constraintsOverride: DriveConstraints? = null): TrajectoryBuilder
Adds a point turn. |
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fun turnTo(heading: Double, constraintsOverride: DriveConstraints? = null): TrajectoryBuilder
Adds a point turn. |
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fun waitFor(duration: Double): TrajectoryBuilder
Adds a wait segment. |