core / com.acmerobotics.roadrunner.trajectory / Trajectory

Trajectory

class Trajectory

Time-parametrized trajectory of poses.

Parameters

segments - trajectory segments

Constructors

Trajectory(segments: List<TrajectorySegment> = emptyList())

Time-parametrized trajectory of poses.

Properties

val segments: List<TrajectorySegment>

trajectory segments

Functions

acceleration	`fun acceleration(time: Double): Pose2d` Returns the pose acceleration at the specified time.
duration	`fun duration(): Double` Returns the trajectory duration.
end	`fun end(): Pose2d` Returns the end pose.
endAcceleration	`fun endAcceleration(): Pose2d` Returns the end pose acceleration.
endVelocity	`fun endVelocity(): Pose2d` Returns the end pose velocity.
get	`operator fun get(time: Double): Pose2d` Returns the pose at the specified time.
start	`fun start(): Pose2d` Returns the start pose.
startAcceleration	`fun startAcceleration(): Pose2d` Returns the start pose acceleration.
startVelocity	`fun startVelocity(): Pose2d` Returns the start pose velocity.
velocity	`fun velocity(time: Double): Pose2d` Returns the pose velocity at the specified time.