com.acmerobotics.roadrunner.path

Class PathBuilder

com.acmerobotics.roadrunner.path.PathBuilder

public class PathBuilder

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

See Also:

class Path

Constructor Summary

Constructors

Constructor and Description
PathBuilder(Pose2d startPose) Easy-to-use builder for creating class Path instances.

Method Summary

Modifier and Type	Method and Description
PathBuilder	back(double distance) Adds a line straight backward.
Path	build() Constructs the class Path instance.
PathBuilder	forward(double distance) Adds a line straight forward.
PathBuilder	lineTo(Vector2d pos, HeadingInterpolator interpolator) Adds a line path segment.
PathBuilder	lineTo(Vector2d pos) Adds a line path segment.
PathBuilder	reverse() Reverse the direction of robot travel.
PathBuilder	setReversed(boolean reversed) Sets the robot travel direction.
PathBuilder	splineTo(Pose2d pose, HeadingInterpolator interpolator) Adds a spline segment.
PathBuilder	splineTo(Pose2d pose) Adds a spline segment.
PathBuilder	strafeLeft(double distance) Adds a segment that strafes left in the robot reference frame.
PathBuilder	strafeRight(double distance) Adds a segment that strafes right in the robot reference frame.
PathBuilder	strafeTo(Vector2d pos) Adds a strafe path segment.

Constructor Detail

PathBuilder

public PathBuilder(@NotNull
                   Pose2d startPose)

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

Parameters:

startPose - start pose

See Also:

class Path

Method Detail

reverse

@NotNull
public PathBuilder reverse()

Reverse the direction of robot travel.

setReversed

@NotNull
public PathBuilder setReversed(boolean reversed)

Sets the robot travel direction.

lineTo

@JvmOverloads
 @NotNull
public PathBuilder lineTo(@NotNull
                                                  Vector2d pos,
                                                  @NotNull
                                                  HeadingInterpolator interpolator)

Adds a line path segment.

Parameters:

pos - end position

interpolator - heading interpolator

lineTo

@JvmOverloads
 @NotNull
public PathBuilder lineTo(@NotNull
                                                  Vector2d pos)

Adds a line path segment.

Parameters:

pos - end position

strafeTo

@NotNull
public PathBuilder strafeTo(@NotNull
                                     Vector2d pos)

Adds a strafe path segment.

Parameters:

pos - end position

forward

@NotNull
public PathBuilder forward(double distance)

Adds a line straight forward.

Parameters:

distance - distance to travel forward

back

@NotNull
public PathBuilder back(double distance)

Adds a line straight backward.

Parameters:

distance - distance to travel backward

strafeLeft

@NotNull
public PathBuilder strafeLeft(double distance)

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

Parameters:

distance - distance to strafe left

strafeRight

@NotNull
public PathBuilder strafeRight(double distance)

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

Parameters:

distance - distance to strafe right

splineTo

@JvmOverloads
 @NotNull
public PathBuilder splineTo(@NotNull
                                                    Pose2d pose,
                                                    @NotNull
                                                    HeadingInterpolator interpolator)

Adds a spline segment.

Parameters:

pose - end pose

interpolator - heading interpolator

splineTo

@JvmOverloads
 @NotNull
public PathBuilder splineTo(@NotNull
                                                    Pose2d pose)

Adds a spline segment.

Parameters:

pose - end pose

build

@NotNull
public Path build()

Constructs the class Path instance.

See Also:

class Path