com.acmerobotics.roadrunner.trajectory

Class PathTrajectorySegment

com.acmerobotics.roadrunner.trajectory.PathTrajectorySegment

All Implemented Interfaces:

TrajectorySegment

public class PathTrajectorySegment
implements TrajectorySegment

Trajectory segment backed by a list of class Path objects.

See Also:

class Path

Constructor Summary

Constructors

Constructor and Description
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList, int resolution) Trajectory segment backed by a list of class Path objects.
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths, java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList) Trajectory segment backed by a list of class Path objects.
PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths) Trajectory segment backed by a list of class Path objects.
PathTrajectorySegment() Trajectory segment backed by a list of class Path objects.
PathTrajectorySegment(Path path, TrajectoryConstraints trajectoryConstraints, int resolution)
PathTrajectorySegment(Path path, TrajectoryConstraints trajectoryConstraints)

Method Summary

Modifier and Type	Method and Description
Pose2d	acceleration(double time) Returns the pose acceleration at the given time.
double	duration() Returns the duration of the segment.
Pose2d	get(double time) Returns the pose at the given time.
java.util.List<com.acmerobotics.roadrunner.path.Path>	getPaths() paths
MotionProfile	getProfile() Motion profile used for time parametrization of the paths.
java.util.List<com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints>	getTrajectoryConstraintsList() motion constraints for each respective path
Pose2d	velocity(double time) Returns the pose velocity at the given time.

Methods inherited from interface com.acmerobotics.roadrunner.trajectory.TrajectorySegment

acceleration, duration, get, velocity

Constructor Detail

PathTrajectorySegment

public PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                             java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList,
                             int resolution)

Trajectory segment backed by a list of class Path objects.

Parameters:

paths - paths

trajectoryConstraintsList - motion constraints for each respective path

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

paths - paths

trajectoryConstraintsList - motion constraints for each respective path

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

See Also:

class Path

PathTrajectorySegment

public PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths,
                             java.util.List<? extends com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> trajectoryConstraintsList)

Trajectory segment backed by a list of class Path objects.

Parameters:

paths - paths

trajectoryConstraintsList - motion constraints for each respective path

paths - paths

trajectoryConstraintsList - motion constraints for each respective path

See Also:

class Path

PathTrajectorySegment

public PathTrajectorySegment(java.util.List<com.acmerobotics.roadrunner.path.Path> paths)

Trajectory segment backed by a list of class Path objects.

Parameters:

paths - paths

paths - paths

See Also:

class Path

PathTrajectorySegment

public PathTrajectorySegment()

Trajectory segment backed by a list of class Path objects.

See Also:

class Path

PathTrajectorySegment

public PathTrajectorySegment(Path path,
                             TrajectoryConstraints trajectoryConstraints,
                             int resolution)

Parameters:

path - path

trajectoryConstraints - trajectory constraints

resolution - resolution for the motion profile

PathTrajectorySegment

public PathTrajectorySegment(Path path,
                             TrajectoryConstraints trajectoryConstraints)

Parameters:

path - path

trajectoryConstraints - trajectory constraints

Method Detail

getProfile

public MotionProfile getProfile()

Motion profile used for time parametrization of the paths.

duration

public double duration()

Returns the duration of the segment.

get

public Pose2d get(double time)

Returns the pose at the given time.

velocity

public Pose2d velocity(double time)

Returns the pose velocity at the given time.

acceleration

public Pose2d acceleration(double time)

Returns the pose acceleration at the given time.

getPaths

public java.util.List<com.acmerobotics.roadrunner.path.Path> getPaths()

paths

getTrajectoryConstraintsList

public java.util.List<com.acmerobotics.roadrunner.trajectory.constraints.TrajectoryConstraints> getTrajectoryConstraintsList()

motion constraints for each respective path