com.acmerobotics.roadrunner.trajectory

Class TrajectoryConfig

com.acmerobotics.roadrunner.trajectory.TrajectoryConfig

public class TrajectoryConfig

Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class TrajectoryBuilder.

See Also:

class TrajectoryBuilder

Constructor Summary

Constructors

Constructor and Description
TrajectoryConfig(java.util.List<com.acmerobotics.roadrunner.Pose2d> poses, DriveConstraints constraints, int resolution) Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class TrajectoryBuilder.
TrajectoryConfig(java.util.List<com.acmerobotics.roadrunner.Pose2d> poses, DriveConstraints constraints) Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class TrajectoryBuilder.

Method Summary

Modifier and Type	Method and Description
DriveConstraints	getConstraints() constraints
java.util.List<com.acmerobotics.roadrunner.Pose2d>	getPoses() poses
int	getResolution() resolution used for path-based segments
Trajectory	toTrajectory() Converts the configuration into a real class Trajectory.

Constructor Detail

TrajectoryConfig

public TrajectoryConfig(java.util.List<com.acmerobotics.roadrunner.Pose2d> poses,
                        DriveConstraints constraints,
                        int resolution)

Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class TrajectoryBuilder.

Parameters:

poses - poses

constraints - constraints

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

poses - poses

constraints - constraints

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

See Also:

class TrajectoryBuilder

TrajectoryConfig

public TrajectoryConfig(java.util.List<com.acmerobotics.roadrunner.Pose2d> poses,
                        DriveConstraints constraints)

Basic trajectory configuration intended for serialization. Intentionally more simplistic and less flexible than class TrajectoryBuilder.

Parameters:

poses - poses

constraints - constraints

poses - poses

constraints - constraints

See Also:

class TrajectoryBuilder

Method Detail

toTrajectory

public Trajectory toTrajectory()

Converts the configuration into a real class Trajectory.

See Also:

class Trajectory

getPoses

public java.util.List<com.acmerobotics.roadrunner.Pose2d> getPoses()

poses

getConstraints

public DriveConstraints getConstraints()

constraints

getResolution

public int getResolution()

resolution used for path-based segments

(see class PathTrajectorySegment)

See Also:

class PathTrajectorySegment