com.acmerobotics.roadrunner.trajectory

Class PointTurn

com.acmerobotics.roadrunner.trajectory.PointTurn

All Implemented Interfaces:

TrajectorySegment

public class PointTurn
implements TrajectorySegment

Point turn trajectory segment.

Constructor Summary

Constructors

Constructor and Description
PointTurn(Pose2d start, double endHeading, DriveConstraints constraints) Point turn trajectory segment.

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.
DriveConstraints	getConstraints() drive constraints
MotionProfile	getProfile() Motion profile for the time parametrization of the turn.
Pose2d	getStart() start pose
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

PointTurn

public PointTurn(Pose2d start,
                 double endHeading,
                 DriveConstraints constraints)

Point turn trajectory segment.

Parameters:

start - start pose

endHeading - end heading

constraints - drive constraints

start - start pose

endHeading - end heading

constraints - drive constraints

Method Detail

getProfile

public MotionProfile getProfile()

Motion profile for the time parametrization of the turn.

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.

getStart

public Pose2d getStart()

start pose

getConstraints

public DriveConstraints getConstraints()

drive constraints