public class WaitSegment implements TrajectorySegment
Static trajectory segment that holds a constant pose. Used for giving trajectories extra time to settle.
Constructor and Description |
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WaitSegment(Pose2d pose,
double duration)
Static trajectory segment that holds a constant pose. Used for giving trajectories extra time to settle.
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Modifier and Type | Method and Description |
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Pose2d |
acceleration(double time)
Returns the pose acceleration at the given time.
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double |
duration()
Returns the duration of the segment.
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Pose2d |
get(double time)
Returns the pose at the given time.
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Pose2d |
velocity(double time)
Returns the pose velocity at the given time.
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acceleration, duration, get, velocity
public WaitSegment(Pose2d pose, double duration)
Static trajectory segment that holds a constant pose. Used for giving trajectories extra time to settle.
pose
- pose to holdduration
- durationpose
- pose to holdduration
- durationpublic double duration()
Returns the duration of the segment.
public Pose2d get(double time)
Returns the pose at the given time.
public Pose2d velocity(double time)
Returns the pose velocity at the given time.
public Pose2d acceleration(double time)
Returns the pose acceleration at the given time.