com.acmerobotics.roadrunner.trajectory

Class TrajectoryBuilder

com.acmerobotics.roadrunner.trajectory.TrajectoryBuilder

public class TrajectoryBuilder

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

See Also:

class Trajectory

Constructor Summary

Constructors

Constructor and Description
TrajectoryBuilder(Pose2d startPose, DriveConstraints globalConstraints, int resolution) Easy-to-use builder for creating class Trajectory instances.
TrajectoryBuilder(Pose2d startPose, DriveConstraints globalConstraints) Easy-to-use builder for creating class Trajectory instances.

Method Summary

Modifier and Type	Method and Description
TrajectoryBuilder	back(double distance) Adds a line straight backward.
TrajectoryBuilder	beginComposite() Begins a composite path trajectory segment backed by a single continuous profile.
Trajectory	build() Constructs the class Trajectory instance.
TrajectoryBuilder	closeComposite() Closes a composite path trajectory segment (see TrajectoryBuilder.beginComposite).
TrajectoryBuilder	forward(double distance) Adds a line straight forward.
TrajectoryBuilder	lineTo(Vector2d pos, HeadingInterpolator interpolator, TrajectoryConstraints constraintsOverride) Adds a line path segment.
TrajectoryBuilder	lineTo(Vector2d pos, HeadingInterpolator interpolator) Adds a line path segment.
TrajectoryBuilder	lineTo(Vector2d pos) Adds a line path segment.
TrajectoryBuilder	reverse() Reverse the direction of robot travel.
TrajectoryBuilder	setReversed(boolean reversed) Sets the robot travel direction.
TrajectoryBuilder	splineTo(Pose2d pose, HeadingInterpolator interpolator, TrajectoryConstraints constraintsOverride) Adds a spline segment.
TrajectoryBuilder	splineTo(Pose2d pose, HeadingInterpolator interpolator) Adds a spline segment.
TrajectoryBuilder	splineTo(Pose2d pose) Adds a spline segment.
TrajectoryBuilder	strafeLeft(double distance) Adds a segment that strafes left in the robot reference frame.
TrajectoryBuilder	strafeRight(double distance) Adds a segment that strafes right in the robot reference frame.
TrajectoryBuilder	strafeTo(Vector2d pos) Adds a strafe path segment.
TrajectoryBuilder	turn(double angle, DriveConstraints constraintsOverride) Adds a point turn.
TrajectoryBuilder	turn(double angle) Adds a point turn.
TrajectoryBuilder	turnTo(double heading, DriveConstraints constraintsOverride) Adds a point turn.
TrajectoryBuilder	turnTo(double heading) Adds a point turn.
TrajectoryBuilder	waitFor(double duration) Adds a wait segment.

Constructor Detail

TrajectoryBuilder

public TrajectoryBuilder(Pose2d startPose,
                         DriveConstraints globalConstraints,
                         int resolution)

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

Parameters:

startPose - start pose

globalConstraints - global drive constraints (overridable for specific segments)

resolution - resolution used for path-based segments (see class PathTrajectorySegment)

startPose - start pose

globalConstraints - global drive constraints (overridable for specific segments)

resolution - resolution used for path-based segments (see class PathTrajectorySegment)

See Also:

class Trajectory

TrajectoryBuilder

public TrajectoryBuilder(Pose2d startPose,
                         DriveConstraints globalConstraints)

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

Parameters:

startPose - start pose

globalConstraints - global drive constraints (overridable for specific segments)

startPose - start pose

globalConstraints - global drive constraints (overridable for specific segments)

See Also:

class Trajectory

Method Detail

reverse

public TrajectoryBuilder reverse()

Reverse the direction of robot travel.

setReversed

public TrajectoryBuilder setReversed(boolean reversed)

Sets the robot travel direction.

turn

public TrajectoryBuilder turn(double angle,
                              DriveConstraints constraintsOverride)

Adds a point turn.

Parameters:

angle - angle to turn by (relative to the current heading)

constraintsOverride - turn-specific drive constraints

turn

public TrajectoryBuilder turn(double angle)

Adds a point turn.

Parameters:

angle - angle to turn by (relative to the current heading)

turnTo

public TrajectoryBuilder turnTo(double heading,
                                DriveConstraints constraintsOverride)

Adds a point turn.

Parameters:

heading - heading to turn to

constraintsOverride - turn-specific drive constraints

turnTo

public TrajectoryBuilder turnTo(double heading)

Adds a point turn.

Parameters:

heading - heading to turn to

lineTo

public TrajectoryBuilder lineTo(Vector2d pos,
                                HeadingInterpolator interpolator,
                                TrajectoryConstraints constraintsOverride)

Adds a line path segment.

Parameters:

pos - end position

interpolator - heading interpolator

constraintsOverride - line-specific drive constraints

lineTo

public TrajectoryBuilder lineTo(Vector2d pos,
                                HeadingInterpolator interpolator)

Adds a line path segment.

Parameters:

pos - end position

interpolator - heading interpolator

lineTo

public TrajectoryBuilder lineTo(Vector2d pos)

Adds a line path segment.

Parameters:

pos - end position

strafeTo

public TrajectoryBuilder strafeTo(Vector2d pos)

Adds a strafe path segment.

Parameters:

pos - end position

forward

public TrajectoryBuilder forward(double distance)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

public TrajectoryBuilder back(double distance)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

public TrajectoryBuilder strafeLeft(double distance)

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

Parameters:

distance - distance to strafe left

strafeRight

public TrajectoryBuilder strafeRight(double distance)

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

Parameters:

distance - distance to strafe right

splineTo

public TrajectoryBuilder splineTo(Pose2d pose,
                                  HeadingInterpolator interpolator,
                                  TrajectoryConstraints constraintsOverride)

Adds a spline segment.

Parameters:

pose - end pose

interpolator - heading interpolator

constraintsOverride - spline-specific constraints

splineTo

public TrajectoryBuilder splineTo(Pose2d pose,
                                  HeadingInterpolator interpolator)

Adds a spline segment.

Parameters:

pose - end pose

interpolator - heading interpolator

splineTo

public TrajectoryBuilder splineTo(Pose2d pose)

Adds a spline segment.

Parameters:

pose - end pose

waitFor

public TrajectoryBuilder waitFor(double duration)

Adds a wait segment.

Parameters:

duration - wait duration

beginComposite

public TrajectoryBuilder beginComposite()

Begins a composite path trajectory segment backed by a single continuous profile.

closeComposite

public TrajectoryBuilder closeComposite()

Closes a composite path trajectory segment (see TrajectoryBuilder.beginComposite).

See Also:

TrajectoryBuilder.beginComposite

build

public Trajectory build()

Constructs the class Trajectory instance.

See Also:

class Trajectory