com.acmerobotics.roadrunner.path

Class PathBuilder

com.acmerobotics.roadrunner.path.PathBuilder

public class PathBuilder

Easy-to-use builder for creating class Path instances.

See Also:

class Path

Constructor Summary

Constructors

Constructor and Description
PathBuilder(Pose2d startPose) Easy-to-use builder for creating class Path instances.

Method Summary

Modifier and Type	Method and Description
PathBuilder	back(double distance) Adds a line straight backward.
Path	build() Constructs the class Path instance.
PathBuilder	forward(double distance) Adds a line straight forward.
PathBuilder	lineTo(Vector2d pos, HeadingInterpolator interpolator) Adds a line path segment.
PathBuilder	lineTo(Vector2d pos) Adds a line path segment.
PathBuilder	reverse() Reverse the direction of robot travel.
PathBuilder	setReversed(boolean reversed) Sets the robot travel direction.
PathBuilder	splineTo(Pose2d pose, HeadingInterpolator interpolator) Adds a spline segment.
PathBuilder	splineTo(Pose2d pose) Adds a spline segment.
PathBuilder	strafeLeft(double distance) Adds a segment that strafes left in the robot reference frame.
PathBuilder	strafeRight(double distance) Adds a segment that strafes right in the robot reference frame.
PathBuilder	strafeTo(Vector2d pos) Adds a strafe path segment.

Constructor Detail

PathBuilder

public PathBuilder(Pose2d startPose)

Easy-to-use builder for creating class Path instances.

Parameters:

startPose - start pose

startPose - start pose

See Also:

class Path

Method Detail

reverse

public PathBuilder reverse()

Reverse the direction of robot travel.

setReversed

public PathBuilder setReversed(boolean reversed)

Sets the robot travel direction.

lineTo

public PathBuilder lineTo(Vector2d pos,
                          HeadingInterpolator interpolator)

Adds a line path segment.

Parameters:

pos - end position

interpolator - heading interpolator

lineTo

public PathBuilder lineTo(Vector2d pos)

Adds a line path segment.

Parameters:

pos - end position

strafeTo

public PathBuilder strafeTo(Vector2d pos)

Adds a strafe path segment.

Parameters:

pos - end position

forward

public PathBuilder forward(double distance)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

public PathBuilder back(double distance)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

public PathBuilder strafeLeft(double distance)

Adds a segment that strafes left in the robot reference frame.

Parameters:

distance - distance to strafe left

strafeRight

public PathBuilder strafeRight(double distance)

Adds a segment that strafes right in the robot reference frame.

Parameters:

distance - distance to strafe right

splineTo

public PathBuilder splineTo(Pose2d pose,
                            HeadingInterpolator interpolator)

Adds a spline segment.

Parameters:

pose - end pose

interpolator - heading interpolator

splineTo

public PathBuilder splineTo(Pose2d pose)

Adds a spline segment.

Parameters:

pose - end pose

build

public Path build()

Constructs the class Path instance.

See Also:

class Path